Robotic system with handling mechanism and method of operation thereof

Patent metadata

Field	Value
Publication number	US-11767181-B2
Application number	US-201916701798-A
Country	US
Kind code	B2
Filing date	Dec 3, 2019
Priority date	Mar 14, 2019
Publication date	Sep 26, 2023
Grant date	Sep 26, 2023

Abstract

A gripper including: an orientation sensor configured to generate an orientation reading for a target object; a first grasping blade and a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade; a first position sensor, of the first grasping blade, configured to generate a first position reading of the first grasping blade relative to the target object; a second position sensor, of the second grasping blade, configured to generate a second position reading of the second grasping blade relative to the target object; and a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating a stable condition.

First claim

What is claimed is:

1. A gripper comprising:
an orientation sensor configured to generate an orientation reading for an orientation feature as a recess into the walls from an object top of a target object, the orientation sensor includes a support coupled to a detector to detect the orientation feature and determine if a location adjustment is required;
a first grasping blade, including a horizontal portion to connect the orientation sensor, configured to secure the target object;
a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade;
a first position sensor configured to generate a first position reading of the first grasping blade relative to the target object and located with the first grasping blade;
a second position sensor configured to generate a second position reading of the second grasping blade relative to the target object and located with the second grasping blade; and
a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating the first grasping blade and the second grasping blade in a position to grasp the target object, and the target object coupled to the first grasping blade and the second grasping blade includes a protrusion of the first grasping blade located to fit into an indent in a wall of the target object.

2. The gripper as claimed in claim 1 wherein:
the first position sensor is further configured to generate the first position reading with a first blade bottom of the first grasping blade below an object top of the target object; and
the second position sensor is further configured to generate the second position reading with a second blade bottom of the second grasping blade below the object top.

3. The gripper as claimed in claim 1 further comprising:
a third position sensor, located with the first grasping blade, configured to generate a third position reading of the first grasping blade relative to the target object;
a fourth position sensor, located with the second grasping blade, configured to generate a fourth position reading of the second grasping blade relative to the target object; and

wherein the blade actuator is further configured to:
secure the target object based on the first position reading, the second position reading, the third position reading, and the fourth position reading indicating the first grasping blade and the second grasping blade in a position to grasp the target object.

4. The gripper as claimed in claim 1 wherein:
the first position sensor is further configured to generate the first position reading with a first blade bottom of the first grasping blade below an object top of the target object; and
the second position sensor is further configured to generate the second position reading with a second blade bottom of the second grasping blade below the object top, wherein the second position reading is the same as the first position reading.

5. The gripper as claimed in claim 1 wherein:
the blade actuator is further configured to unsecure the target object;
the first position sensor is further configured to generate the first position reading at an object top of the target object; and
the second position sensor is further configured to generate the second position reading at the object top.

6. The gripper as claimed in claim 1 further comprising:
a first actuator, coupled to the first position sensor, configured to secure the target object with the first grasping blade; and
a second actuator, coupled to the second position sensor, configured to secure the target object with the second grasping blade.

7. The gripper as claimed in claim 1 further comprising:
an actuation wheel, coupled to the first grasping blade, configured to displace of the first grasping blade;
a third grasping blade, coupled to the actuation wheel, configured to secure the target object based on the displacement; and
a fourth grasping blade, coupled to the actuation wheel and at an opposite end to the third grasping blade, configured to secure the target object based on the displacement.

8. A method of operation of a robotic system including a gripper comprising:
generating an orientation reading for an orientation feature as a recess into the walls from an object top of a target object, the orientation sensor includes a support coupled to a detector to detect the orientation feature and determine if a location adjustment is required;
generating a first position reading representing a position of a first grasping blade of the gripper relative to the target object;
generating a second position reading representing a position of a second grasping blade of the gripper relative to the target object and the second grasping blade located at an opposite side of the target object as the first grasping blade, and
executing an instruction for securing the target object with the first grasping blade and the second grasping blade based on a valid orientation reading of the orientation reading and based on the first position reading and the second position reading indicating the first grasping blade and the second grasping blade in a position to grasp the target object including fitting a protrusion of the first grasping blade into an indent in a wall of the target object.

9. The method as claimed in claim 8 wherein:
generating the first position reading representing a first blade bottom of the first grasping blade below an object top of the target object; and
generating the second position reading representing a second blade bottom of the second grasping blade below the object top.

10. The method as claimed in claim 8 wherein:
generating a third position reading representing a position of the first grasping blade relative to the target object;
generating a fourth position reading representing a position of the second grasping blade relative to the target object; and
executing an instruction for securing the target object is based on the first position reading, the second position reading, the third position reading, and the fourth position reading indicating the first grasping blade and the second grasping blade in a position to grasp the target object.

11. The method as claimed in claim 8 wherein:
generating the first position reading represents a first blade bottom of the first grasping blade below an object top of the target object; and
generating the second position reading represents a second blade bottom of the second grasping blade below the object top, wherein the second position reading is the same as the first position reading.

12. The method as claimed in claim 8 further comprising:
executing an instruction for unsecuring the target object;
generating the first position reading for locating an object top of the target object; and
generating the second position reading for locating the object top.

13. The method as claimed in claim 8 further comprising:
executing an instruction for securing the target object with the first grasping blade; and
executing an instruction for securing the target object with the second grasping blade.

14. The method as claimed in claim 8 further comprising:
executing an instruction for displacing of the first grasping blade with an actuation wheel;
executing an instruction for securing the target object based on displacing a third grasping blade coupled to the actuation wheel; and

Assignees

• Mujin Inc

Inventors

• Lei Lei

Classifications

• B65G61/00 Primary

  Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for · CPC title

• B25J9/1664

  characterised by motion, path, trajectory planning · CPC title

• B25J9/1697

  Vision controlled systems · CPC title

• B25J15/0616

  with vacuum · CPC title

• G05B19/40935

  Selection of predetermined shapes and defining the dimensions with parameter input · CPC title