Suction-based end effector with mixed cup sizes

Patent metadata

Field	Value
Publication number	US-12403616-B2
Application number	US-202318378548-A
Country	US
Kind code	B2
Filing date	Oct 10, 2023
Priority date	Mar 31, 2021
Publication date	Sep 2, 2025
Grant date	Sep 2, 2025

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 base from which a first set of one or more suction cups extend; and
a first actuation mechanism configured to 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;
wherein:
the first actuation mechanism is controlled based at least in part on one or more control signals; and
the one or more control signals are generated based at least in part on (i) a grasping strategy for grasping the item, and (ii) selection of the first set of suction cups to grasp the item to be engaged, the selection being based at least in part on a determination of an arrangement, suction cup size, and a selection criteria associated with a robotic operation;
the one or more control signals causes the first set of suction cups to move to the active position in connection with engaging the item;
the first set of one or more suction cups are disposed along a first axis;
a second set of one or more suction cups are disposed along a second axis; and
the first axis is shorter than the second axis, and the first axis and second axis intersect at a midpoint of the end effector.

2. The suction type end effector of claim 1 , wherein the selection criteria includes a predetermined grasping speed.

3. The suction type end effector of claim 1 , wherein the robotic operation is a singulation operation.

4. The suction type end effector of claim 1 , wherein the first set of suction cups are actuated independent from other suction cups comprised in the suction type end effector.

5. The suction type end effector of claim 1 , wherein the selection of suction cups is further based at least in part on a shape of the base and a position of the first set of suction cups with respect to the base.

6. The suction type end effector of claim 1 , wherein moving the first set of suction cups to the active position comprises further extending the first set of suction cups from the base.

7. The suction type end effector of claim 1 , wherein:
the suction type end effector is connected to a robotic arm that is controlled to perform a particular function; and
the selection of suction cups is further based at least in part on the particular function.

8. The suction type end effector of claim 1 , wherein the selection of suction cups is further based at least in part on a material type of the item.

9. The suction type end effector of claim 1 , further comprising: the second set of one or more suction cups configured to extend from the base.

10. The suction type end effector of claim 9 , wherein the second set of one or more suction cups are configured in the inactive position in response to receipt of the one or more control signals that control to move the first set of suction cups into the active position.

11. The suction type end effector of claim 1 , wherein the selection criteria includes a shape of the item.

12. The suction type end effector of claim 1 , wherein the second set of one or more suction cups that are not selected to engage the item remains in the inactive position while the first set of suction cups engage the item.

13. The suction type end effector of claim 1 , wherein the first axis and the second axis are perpendicular.

14. The suction type end effector of claim 1 , wherein the base is 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.

15. The suction type end effector of claim 1 , wherein the one or more control signals are determined based at least in part on a grasping strategy.

16. The suction type end effector of claim 15 , wherein the grasping strategy indicates a manner by which an item is to be grasped by the suction type end effector.

17. The suction type end effector of claim 1 , wherein one or more of the first set of one or more suction cups comprise an extendable suction cup.

18. The suction type end effector of claim 17 , wherein the extendable cup is controlled based at least in part on at least one of the one more control signals.

19. The suction type end effector of claim 18 , 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.

20. 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.

21. The suction type end effector of claim 20 , 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.

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

• B25J9/0093

  co-operating with conveyor means · CPC title