End effector assembly and method of operation to grasp non-planar articles
AssigneeMGS Machine Corporation
InventorEric J. Berns
Life of this patent
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Abstract
An end effector is configured to grasp articles that have deviated from their original shape. The end effector can return the article to its expected condition. The end effector can include a main platform, a first sub-platform and a second sub-platform. A first suction cup extends vertically below the main platform. Each of the sub-platforms includes one or more suction cups, respectively, that protrude vertically below the sub-platforms. Each sub-platform is connected to the main platform via a bellows actuator that can be extended and retracted via positive and negative pressures. The main platform can include fittings to allow the end effector to be attached to a wide variety of robotic arms, such as a delta robot.
Claims20
An end effector assembly, comprising:
- a main platform;
- a first sub-platform attached to the main platform via a first bellows actuator;
- a first suction cup provided to the main platform and extending vertically below the main platform;
- a second suction cup provided to the first sub-platform and extending vertically below the first sub-platform;
- wherein the first sub-platform is pneumatically extendable and retractable in a vertical direction via the first bellows actuator, and
- wherein the first sub-platform is movable in a horizontal direction.
A method of grasping an object that has deviated from a flat condition and returning the object to the flat condition, the method comprising:
- engaging a first suction cup of a main platform with a top surface of the object;
- securing the object to the first suction cup by creating a vacuum through the first suction cup;
- applying positive pressure to a first bellows actuator that connects the main platform to a first sub-platform, thereby extending the first sub-platform in a direction away from the main platform;
- engaging a second suction cup of the first sub-platform with the top surface of the object subsequent to the application of positive pressure to the first bellows actuator and subsequent to securing the object to the first suction cup;
- securing the object to the second suction cup by creating a vacuum through the second suction cup;
- and
- retracting the first bellows actuator via a vacuum condition created within the first bellows actuator, thereby returning the object to the flat condition.
A system for grasping non-flat objects and returning the objects to a flat condition, the system comprising:
- a main platform;
- a first sub-platform attached to the main platform via a first bellows actuator, wherein the first bellows actuator is configured to extend under positive pressure and retract under negative pressure, the first sub-platform configured to float in a horizontal direction when the first bellows actuator is not fully retracted;
- a first suction cup provided to the main platform and extending vertically below the main platform;
- and
- a second suction cup provided to the first sub-platform and extending vertically below the first sub-platform such that a distal end of the second suction cup is co-planar with a distal end of the first suction cup when the first bellows actuator is in a retracted state.
Dependencies are inferred from the claim text.