Robotic picking assemblies configured to grasp multiple items

A system comprising:

• a picking assembly coupled to a vacuum system, the picking assembly comprising:
• a first suction cup assembly comprising a first suction cup and a first sensor, wherein the first sensor comprises:
• a base;
• a retractable pin coupled to the base, the retractable pin configured to move from a default position to a retracted position;
• and
• a spring coupled to the retractable pin and configured to bias the retractable pin to the default position;
• and
• a second suction cup assembly comprising a second suction cup and a second sensor;
• and
• a controller configured to:
• cause the picking assembly to grasp a plurality of items, the plurality of items comprising a first item and a second item;
• cause the picking assembly to move from a first position to a second position;
• and
• cause the picking assembly to release the first item at a first time and the second item at a second time.

A robotic picking system comprising:

• a robotic arm;
• and
• a picking assembly coupled to the robotic arm and configured to grasp a plurality of items, the picking assembly comprising:
• a plate comprising a plurality of apertures;
• a compliant foam layer coupled to the plate, the compliant foam layer comprising a plurality of pathways between an upper surface and a lower surface;
• a first vacuum tube coupled to the plate, wherein airflow through the first vacuum tube flows through a first set of apertures of the plurality of apertures;
• and
• a second vacuum tube coupled to the plate, wherein airflow through the second vacuum tube flows through a second set of apertures of the plurality of apertures;
• a camera configured to capture an image of the plurality of items after the plurality of items are grasped by the picking assembly;
• and
• a controller configured to:
• determine, using the image, that the first vacuum tube is disposed adjacent to a first item of the plurality of items, wherein the compliant foam layer is disposed between the first vacuum tube and the first item;
• determine item identifiers for individual items of the plurality of items based at least in part on the image;
• determine, using the image, that the second vacuum tube is disposed adjacent to the first item, wherein the compliant foam layer is disposed between the first vacuum tube and the first item;
• and
• cause positive air pressure to be directed to the first vacuum tube and the second vacuum tube to release the first item.