# US 10,864,555 B2 · Systems and methods for robotic suction grippers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,864,555 B2 - Document ID: US10864555B2 - Status: Granted - Kind: B2 - Application number: 16/136,441 - Filed: 2018-09-20 - Published: 2019-03-21 - Granted: 2020-12-15 - Earliest claimed: 2017-09-21 - Assignees: AMP Robotics Corporation - Applicants: AMP Robotics Corporation - Inventors: John C. McCoy, Jr.; Matanya B. Horowitz; James A. Bailey - Web page: https://patentgrep.com/patent/US10864555B2 ## CPC - B07C 5/365: {using a single separation means} - B07C 5/3422: {using video scanning devices, e.g. TV-cameras} - B25J 15/0616: {with vacuum} - B25J 15/0658: {Pneumatic type, e.g. air blast or overpressure} - B25J 15/0675: {of the ejector type} - B07C 2501/0063: Using robots - B07C: POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING (specially adapted for a specific purpose covered by another class, see the relevant place, e.g. A43D33/06, B23Q7/12) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract In one example embodiment, a robotic vacuum sorting system comprises: a suction gripper mechanism mounted to a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics. In response to an image signal from the imaging device, the robot control logic and electronics outputs robot control signals to control the sorting robot, and outputs one or more airflow control signals to the vacuum system to execute a capture action on a target object using the suction gripper. During the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object. ## Claims ### Claim 1 A robotic vacuum sorting system, the system comprising: a suction gripper mechanism pivotally mounted to one or more robotic arms of a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics; wherein, in response to an image signal from the imaging device, the robot control logic and electronics outputs one or more robot control signals to control the one or more robotic arms of the sorting robot, and outputs one or more airflow control signals to the vacuum system, to execute a capture action on a target object using the suction gripper mechanism; wherein during the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at a gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object; and wherein the suction gripper mechanism comprises: a body assembly that houses a linear bearing component; a linear shaft element secured within the linear bearing component and having a freedom to travel axially up and down with respect to an axis of the linear bearing component; an internal airflow passage within the linear shaft element configured to communicate an airflow between an airflow application port positioned at a first end of the linear shaft element and the gripping port positioned at an opposing second end of the linear shaft element; a suction cup assembly comprising a flexible cup element coupled to the gripping port by a removable coupler; and a mounting assembly rigidly secured around the body assembly, the mounting assembly further comprising one or more mounting points pivotally coupled to the one or more robotic arms of the sorting robot. ### Claim 2 (depends on 1) The system of claim 1, wherein during the capture action, the robot control logic and electronics outputs control signals such that the vacuum system first pulls the vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object and subsequently reverses air pressure to purge air from the gripping port of the suction gripper mechanism. ### Claim 3 (depends on 1) The system of claim 1, the vacuum system configured to couple to an air source, wherein the vacuum system is configured to selectively convert a positive pressure air flow provided from the air source into a vacuum suction at the suction gripper mechanism. ### Claim 4 (depends on 1) The system of claim 1, wherein the vacuum system comprises a vacuum generator; wherein the vacuum generator comprises a compressed air driven Venturi vacuum system or a compressed air driven Coanda vacuum system. ### Claim 5 (depends on 4) The system of claim 4, wherein the vacuum generator is integrated within the suction gripper mechanism. ### Claim 6 (depends on 1) The system of claim 1, wherein the suction gripper mechanism further comprises: a spring mechanism positioned around an external circumference of the linear shaft element between the mounting assembly and a stop device; wherein the spring mechanism is configured to extend the linear shaft element to a fully extended position when the suction gripper mechanism is not holding the target object. ### Claim 7 (depends on 1) The system of claim 1, wherein the linear shaft element has freedom to travel through the linear bearing component to extend at least in part above the mounting assembly during execution of the capture action in response to a force on the suction cup assembly from contacting the target object. ### Claim 8 (depends on 7) The system of claim 7, wherein the vacuum system comprises a vacuum generator coupled to the airflow application port of the suction gripper mechanism. ### Claim 9 (depends on 8) The system of claim 8, wherein the vacuum generator comprises: a chamber having a pressurized air input port, a controlled airflow port, and an exhaust port; wherein the pressurized air input port is coupled to an air source; and wherein the controlled airflow port is coupled to the airflow application port of the suction gripper mechanism. ### Claim 10 (depends on 9) The system of claim 9, wherein one or more structural features within the chamber are configured to create a negative air pressure at the controlled airflow port that pulls air into the chamber from the suction gripper mechanism creating suction at the gripping port. ### Claim 11 A robotic vacuum sorting system, the system comprising: a suction gripper mechanism pivotally mounted to one or more robotic arms of a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics; wherein, in response to an image signal from the imaging device, the robot control logic and electronics outputs one or more robot control signals to control the one or more robotic arms of the sorting robot, and outputs one or more airflow control signals to the vacuum system, to execute a capture action on a target object using the suction gripper mechanism; wherein during the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at a gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object; and wherein the vacuum system comprises a vacuum generator, wherein the vacuum generator further comprises: an airflow direction control piston responsive to an airflow control signal output from the robot control logic and electronics; wherein the airflow direction control piston comprises: an extensible shaft having a stopper, the extensible shaft aligned with an exhaust port of a chamber; wherein during execution of the capture action, the robot control logic and electronics operates the airflow direction control piston to retract the extensible shaft to configure the vacuum generator to pull a negative pressure vacuum airflow at the gripping port of the suction gripper mechanism; and wherein during execution of the capture action, the robot control logic and electronics operates the airflow direction control piston to extend the extensible shaft to plug the exhaust port of the chamber to configure the vacuum generator to push a positive pressure airflow out from the gripping port of the suction gripper mechanism. ### Claim 12 A robotic vacuum sorting system, the system comprising: a suction gripper mechanism pivotally mounted to one or more robotic arms of a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics; wherein, in response to an image signal from the imaging device, the robot control logic and electronics outputs one or more robot control signals to control the one or more robotic arms of the sorting robot, and outputs one or more airflow control signals to the vacuum system, to execute a capture action on a target object using the suction gripper mechanism; wherein during the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at a gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object; and wherein the suction gripper mechanism further comprises: a plurality of body assemblies each housing a respective linear bearing component and a respective linear shaft element secured within the respective linear bearing component; wherein each linear shaft element comprises an internal airflow passage configured to communicate an airflow between an airflow application port positioned at a first end of the linear shaft element and a gripping port positioned at an opposing second end of the linear shaft element.