Flexible end of arm tool
AssigneeAmazon Technologies, Inc.
InventorsSean Murphy, Onkar Dabeer, Zachary Tokarczyk
Life of this patent
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Abstract
An end-of-arm-tool (EOAT) can elongate from a retracted position into an extend position to be configured to fit within a space available for contacting and grasping an object. The EOAT includes arrays of linkage elements having corresponding arrays of suction cups attached to linkage element of the linkage element array. In the retracted position, the arrays are pulled away from the distal end of the EOAT to be alongside of a longitudinal rail. In the extended position, a proximal end of the array is moved toward the distal end of the EOAT such that the linkages glide outwardly and linearly to deploy additional suction cups of the suction cup array against the object-to-be-lifted.
Claims17
An end-of-arm-tool comprising:
- opposing arrays of linkage elements that are configured to be extended and retracted along a longitudinal rail;
- opposing arrays of suctions cups coupled to corresponding linkage elements, the arrays of suction cups defining a footprint of the end-of-arm tool;
- whereby extending the arrays of linkage elements extends the footprint relative to the longitudinal rail to deploy the suction cups, and retracting the arrays of linkage elements up the longitudinal rail retracts the footprint of the end-of-arm tool, thereby enabling the end-of-arm tool in the retracted position to conform to a desired dimension such that the end-of-arm tool is configured to be inserted into a columnar opening through which an item is to be grasped.
An end-of-arm-tool having a conformable array of suction cups, the end-of-arm-tool comprising:
- a longitudinal rail adapted to be coupled to robotic manipulator means;
- a first linkage element array extending along a first longitudinal side of the rail in a retracted position, a second linkage element array extending along an opposing second side of the rail in the retracted position;
- each linkage array including linkage elements;
- a first suction cup array having suction cups that are attached to the first linkage element array and a second suction cup array having suction cups that are coupled to the second linkage element array;
- and
- at least one actuator that is adapted to move proximal ends of the linkage element arrays alternately distally to elongate a footprint of the suction cup and proximally to shorten the footprint of the suction cup array, and wherein at least some of the linkage elements are unsupported by the rail, thereby enabling elongating of the footprint of the suction cup arrays upon distal movement of the at least one actuator.
A method of grasping an object using a conformable, suction cup, end-of-arm-tool, comprising the steps of:
- a. positioning the end-of-arm-tool relative to an object to be grasped, the end-of-arm tool defining a longitudinal direction;
- b. actuating a linkage element array to elongate a footprint of a suction cup array relative to the longitudinal direction and to deploy at least some suction cups of the suction cup array away from the longitudinal direction;
- c. grasping, after the actuating step b, the object with the suction cups carried by the linkage array;
- d. lifting the object via the suction cups;
- and
- e. releasing, after the lifting step d, the object.
Dependencies are inferred from the claim text.