Suction-based end effector with mixed cup sizes

Patent metadata

Field	Value
Publication number	US-11833669-B2
Application number	US-202117219509-A
Country	US
Kind code	B2
Filing date	Mar 31, 2021
Priority date	Mar 31, 2021
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.

First claim

What is claimed is:

1. A suction type end effector, comprising:
a first set of one or more suction cups of a first size having a first diameter;
a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter;
a base from which the first set of one or more suction cups and the second set of one or more suction cups extend; and
a first actuation mechanism configured to (i) configure the first set of suction cups in an inactive position or an active position based on whether the first set of suction cups is selected to engage an item, and (ii) apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups; and
a second actuation mechanism configured to (i) configure the second set of suction cups in an inactive position or an active position based on whether the second set of suction cups is selected to engage an item, and (ii) apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups;
wherein:
one or more of the first actuation mechanism and the second actuation mechanisms are controlled based at least in part on one or more control signals;
the one or more control signals are generated based at least in part on (i) a grasping strategy for grasping the item, and (ii) a set of selected suction cups with which the item is to be engaged;
the set of selected suction cups is determined from among one or more of the first one or more suction cups and the second one or more suction cups to engage the item;
the selection of suction cups is determined based at least in part on an attribute of the item;
the inactive position for the first set of suction cups or the second set of suction cups is a position in which the corresponding set of suction cups is recessed relative to the base; and
the one or more control signals is configured to cause the set of selected suction cups to move to an active position in connection with engaging the item.

2. The suction type end effector of claim 1 , wherein:
the first set of one or more suction cups are disposed along a first axis; and
the second set of one or more suction cups are disposed along a second axis.

3. The suction type end effector of claim 2 , wherein the first axis and the second axis are perpendicular.

4. The suction type end effector of claim 2 , wherein the first axis is shorter than the second axis, and the first axis and second axis intersect at a midpoint of the end effector.

5. The suction type end effector of claim 1 , wherein the first actuation mechanism is configured to operate at least a first suction cup within the first set of one or more suction cups independently of operation at least a second suction cup within the first set of one or more suction cups.

6. The suction type end effector of claim 1 , further comprising a diamond-shaped base plate on which the first set of one or more suction cups and the second set of one or more suction cups are disposed.

7. The suction type end effector of claim 1 , wherein:
the first actuation mechanism and the second actuation mechanism are configured to obtain the one or more control signals from a control computer; and
at least one of the one or more signals in response to which the first actuation mechanism and the second actuation mechanism operate is determined according to a grasping strategy.

8. The suction type end effector of claim 7 , wherein the grasping strategy indicates a manner by which the item is to be grasped by the suction type end effector.

9. The suction type end effector of claim 7 , wherein:
the one or more control signals are selected by the control computer to selectively operate a predetermined combination of the first set of one or more suction cups or the second set of one or more suction cups; and
the predetermined combination is determined based on a determination of at least one suction cup to be actuated to grasp the item according to the grasping strategy.

10. The suction type end effector of claim 7 , wherein one or more of the first set or second set comprise an extendable suction cup.

11. The suction type end effector of claim 10 , wherein the extendable cup is controlled based at least in part on at least one of the one more control signals.

12. The suction type end effector of claim 11 , wherein the extendable cup is controlled to extend from the end effector in response to a grasping strategy according to which the end effector reaches further into a bin to grasp an object, or according to which the end effector is to grasp an object from among a clutter of objects.

13. The suction type end effector of claim 11 , wherein at least a first cup from the first set and at least a second cup from the second set are different sizes.

14. The suction type end effector of claim 1 , wherein the suction type end effector is operatively connected to a robotic arm that is controlled to perform a kitting operation with respect to one or more items.

15. The suction type end effector of claim 14 , wherein the kitting operation comprises engaging at least one item of the one or more items with at least one suction cup on the suction type end effector in connection with picking up the at least one item.

16. The suction type end effector of claim 1 , wherein the suction type end effector is operatively connected to a robotic arm that is controlled to perform a singulation operation with respect to one or more items.

17. The suction type end effector of claim 16 , wherein the singulation operation comprises engaging at least one item of the one or more items with at least one suction cup on the suction type end effector in connection with picking up the at least one item.

18. The suction type end effector of claim 1 , wherein the selection of suction cups is further determined based at least in part on a location of the item in relation to a receptacle in which the item is located.

19. The suction type end effector of claim 18 , wherein the selection of suction cups is further determined based at least in part on a determination that the item is disposed in a corner of the receptacle.

20. The suction type end effector of claim 1 , wherein:
the suction type end effector is operatively connected to a robotic arm; and
the selection of suction cups is determined based at least in part on a location of the item relative to another object in a workspace of the robotic arm or a receptacle in which the item is disposed.

21. The suction type end effector of claim 1 , wherein the selection of suction cups is further based on a determination of an optimal arrangement to achieve a desired suction strength grasping speed.

22. The suction type end effector of claim 1 , wherein a set of suction cups that are not selected to engage the item remains in the inactive position while the set of selected suction cups engage the item.

Assignees

• Dexterity Inc

Inventors

• Sun Zhouwen
• Holmberg Robert
• Kumar Shitij
• Baek Jeesu
• Li joseph
• Ramakrishnan Kishore Ranganath
• Lovett Andrew

Classifications

• B65G47/1492

  the articles being fed from a feeding conveyor · CPC title

• B65G47/905

  Control arrangements · CPC title

• B65G47/18

  Arrangements or applications of hoppers or chutes · CPC title

• B65G47/91

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

• B25J15/0683 Primary

  Details of suction cup structure, e.g. grooves or ridges · CPC title