Method and system for manipulating articles

Patent metadata

Field	Value
Publication number	US-11458635-B2
Application number	US-201916405074-A
Country	US
Kind code	B2
Filing date	May 7, 2019
Priority date	May 9, 2018
Publication date	Oct 4, 2022
Grant date	Oct 4, 2022

Abstract

Various example embodiments described herein relate to an item manipulation system including a control system and a robotic arm coupled to the control system. The item manipulation system includes an end effector communicatively coupled to the control system and defines a first end and a second end. The first end of the end effector is rotatably engaged to the robotic arm. The item manipulation system also includes a gripper unit attached to the second end of the end effector. The gripper unit is configured to grip the item. The gripper unit includes at least one flexible suction cup and at least one rigid gripper. Each of the flexible suction cup and the at least one rigid gripper engage a surface of the item based on vacuum suction force generated through the at least one flexible suction cup or the at least one rigid gripper.

First claim

What is claimed is:

1. An item manipulation system comprising:
a control system;
a robotic arm communicatively coupled to the control system;
an end effector communicatively coupled to the control system, wherein the end effector defines a first end rotatably engaged to the robotic arm and a second end;
a gripper unit attached at the second end of the end effector and configured to be actuated by the control system so as to grip an item, the gripper unit comprising:
at least one flexible suction cup; and
at least one rigid gripper, wherein each of the at least one flexible suction cup and the at least one rigid gripper are configured to engage a surface of the item based on vacuum suction force generated through the at least one flexible suction cup and the at least one rigid gripper.

2. The item manipulation system of claim 1 , wherein the robotic arm is adapted to rotate the end effector so as to change an orientation of the item gripped by the gripper unit from a first orientation to a second orientation.

3. The item manipulation system of claim 1 , wherein the gripper unit further comprises at least one ejector positioned at each of the at least one flexible suction cup and the at least one rigid gripper, wherein the at least one ejector is adapted to eject the item gripped by the gripper unit.

4. The item manipulation system of claim 1 , wherein the robotic arm is adapted to position the end effector so as to:
pick the item positioned in a first orientation by gripping the item with the gripper unit; and
move the end effector in order to place the item in a second orientation.

5. The item manipulation system of claim 1 , further comprising at least one vacuum generator adapted to generate the vacuum suction force through the at least one flexible suction cup and the at least one rigid gripper to facilitate gripping of the item by the gripper unit.

6. The item manipulation system of claim 1 , further comprising a laser range finder adapted to:
identify the item in a first orientation; and
communicate to the control system at least one of a picking position, a gripping position, a retrieval position, or a discharging position of the end effector based on the identified first orientation.

7. The item manipulation system of claim 1 , wherein the end effector further comprises:
a roller gripper unit comprising:
a first roller; and
a second roller,

wherein the roller gripper unit is adapted to:
rotate the first roller in a first direction and rotate the second roller in a second direction opposite to the first direction so as to pinch at least a portion of a second item between the first roller and the second roller; and
rotate the first roller and the second roller in any direction so as to release the portion of the second item.

8. The item manipulation system of claim 1 , further comprising an adapter unit configured to rotatably engage one end of the robotic arm to the first end of the end effector, the adapter unit comprising at least one sensor configured to:
generate sensor data corresponding to at least one of a weight distribution of the item or a center of gravity of the item; and
process the sensor data in order to identify a vacuum suction force to be generated by a vacuum generator of the end effector.

9. The item manipulation system of claim 1 , wherein the flexible suction cup is adapted to engage a flexible item based on a vacuum suction force generated in the flexible suction cup, and wherein the rigid gripper is adapted to engage a rigid item based on a vacuum suction force generated in the rigid gripper.

10. An end effector comprising:
a first end configured to be rotatably engaged to an end of a robotic tool;
a second end comprising: a rigid gripper and a flexible suction cup, wherein each of the rigid gripper and the flexible suction cup is configured to engage a surface of an item based on vacuum suction force generated by a vacuum generator, through the rigid gripper and the flexible suction cup; and
wherein, in response to an actuation by the robotic tool, the end effector is configured to rotate about an axis so as to change an orientation of the item engaged at the second end from a first orientation to a second orientation.

11. The end effector of claim 10 , further comprising a laser range finder adapted to identify an orientation of the item, wherein the end effector is further configured to move to one of a picking position, a gripping position, a retrieval position, or a discharging position based on the identified orientation of the item.

12. The end effector of claim 11 , wherein the end effector is moved to the gripping position to grip the item and further rotated to change the orientation of the item from a first orientation to a second orientation.

13. The end effector of claim 10 , further comprising a roller gripper unit comprising:
a first roller; and
a second roller,
wherein the roller gripper unit is adapted to:
rotate the first roller in a first direction and rotate the second roller in a second direction opposite to the first direction so as to pinch at least a portion of a second item between the first roller and the second roller; and
rotate the first roller and the second roller in a release direction of the item so as to release the portion of the second item.

14. The end effector of claim 10 , wherein the first end of the end effector comprises an adaptor unit configured to rotatably engage with the end of the robotic tool, the adaptor unit comprising at least one sensor configured to:
generate sensor data corresponding to at least one of a weight distribution of the item or a center of gravity of the item; and
process the sensor data in order to identify a vacuum suction force to be generated by a vacuum generator of the end effector.

15. The end effector of claim 10 , wherein at the second end of the end effector comprises:
at least four flexible suction cups positioned at each corner of a bottom surface of the end effector; and
the rigid gripper positioned at a center of the bottom surface of the end effector.

16. The end effector of claim 10 , further comprising at least one ejector at each of the flexible suction cup and the rigid gripper, wherein the at least one ejector configured to eject the item gripped by the end effector.

17. A method of manipulating an item comprising:
identifying the item positioned in a first orientation;
positioning an end effector to pick the item in the first orientation;
engaging a surface of the item via at least one flexible suction cup and at least one rigid gripper of the end effector based on vacuum suction force generated through the at least one flexible suction cup and the at least one rigid gripper; and
rotating the end effector to change an orientation of the item engaged to the end effector from the first orientation to a second orientation.

18. The method of claim 17 further comprising:
moving the end effector to a first position to position the end effector to pick the item in the first orientation;
moving the end effector to a second position to position the end effector to place the item in the second orientation; and
ejecting, by ejectors of the flexible suction cup and the rigid gripper, respectively, the item gripped by the end effector.

19. The method of claim 17 , further comprising:
generating sensor data corresponding to at least one of a weight distribution of the item or a center of gravity of the item; and
processing the sensor data to identify a vacuum suction force t

Assignees

• Intelligrated Headquarters Llc
• Univ Carnegie Mellon

Inventors

• Wicks Matthew R
• Goldman Gabriel
• Hamilton D W Wilson
• Muelling Katharina

Classifications

• B65G47/24

  orientating the articles · CPC title

• B25J15/0675

  of the ejector type · CPC title

• B25J19/02

  Sensing devices · CPC title

• B25J15/0691

  Suction pad made out of porous material, e.g. sponge or foam · CPC title

• B25J15/0038

  Cylindrical gripping surfaces · CPC title