Grasping affordance for use in a robot system

Patent metadata

Field	Value
Publication number	US-11565429-B2
Application number	US-201916962637-A
Country	US
Kind code	B2
Filing date	Jan 16, 2019
Priority date	Jan 19, 2018
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

An affordance is disclosed which allows a robot system to pick an expanded range of items using a single type of end effector, without requiring the use of different end effectors. The affordance includes a first layer and a second layer. The first layer is arranged to be grasped by an end effector of the robot system and the second layer is arranged to adhere to the item. A system having an affordance and a robot system with an end effector arranged to grasp at least one item from storage by way of the affordance is also disclosed.

First claim

The invention claimed is:

1. An affordance for an item to be grasped by a robot system, having an end effector configured to move the item, the affordance comprising:
a first layer configured to be grasped by a robot end effector; and
a second layer configured to adhere to an item to be grasped,
wherein the first layer includes a structure with at least two substantially parallel surfaces.

2. The affordance according to claim 1 , wherein the first layer is configured to be grasped by a suction cup end effector.

3. The affordance according to claim 2 , wherein the first layer is at least one of flatter or smoother than a surface of the item.

4. The affordance according to claim 3 , wherein the first layer is configured to be grasped by a parallel jaw end effector.

5. The affordance according to claim 1 , wherein the first layer is at least one of flatter or smoother than a surface of the item.

6. The affordance according to claim 1 , wherein the first layer structure is configured to be grasped by a parallel jaw end effector.

7. The affordance according to claim 1 , wherein the first layer is configured to be grasped by an end effector having at least two jaws or fingers.

8. The affordance according to claim 1 , wherein the first layer comprises:
at least one of a rigid or semi-rigid material.

9. The affordance according to claim 1 , wherein the second layer comprises:
at least one of an adhesive or hook fastener.

10. The affordance according to claim 1 , wherein the second layer is configured to adhere to an item within ten seconds.

11. The affordance according to claim 1 , wherein the second layer is configured to be food-safe.

12. The affordance according to claim 1 , wherein the affordance is configured to be bio-degradable.

13. The affordance according to claim 1 , wherein the first layer comprises:
an indicator configured to indicate to the robot system to grasp an item by way of the affordance.

14. The affordance according to claim 1 , wherein the affordance is configured to be applied to an item by the end effector.

15. A system comprising, in combination:
an affordance according to claim 1 ; and
a robot system having an end effector arranged to grasp at least one item from at least one storage means by way of the affordance.

16. An order fulfilment system comprising, in combination:
a storage means arranged to store at least one item; and
a system according to claim 15 , wherein the robot system is arranged to grasp at least one item from the storage means by way of the affordance.

17. A method for moving an item, the method comprising:
applying to the item an affordance having a first layer having a structure with at least two substantially parallel surfaces arranged to be grasped by an end effector of a robot system, and a second layer arranged to adhere to the item; and
grasping, by the end effector of the robot system, the item by way of the affordance.

18. The method according to claim 17 , wherein the affordance is applied to the item by the end effector of the robot system.

Assignees

• Ocado Innovation Ltd

Inventors

• Russell Duncan
• Sotiropoulos Panagiotis

Classifications

• B25J15/0616 Primary

  with vacuum · CPC title

• B25J15/008 Primary

  with sticking, gluing or adhesive means · CPC title

• B25J15/0028

  with movable, e.g. pivoting gripping jaw surfaces · CPC title

• B25J11/0045

  Manipulators used in the food industry · CPC title

• B25J15/08

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