US 12,643,245 B1Granted

Multi-modal, reconfigurable, and adaptive gripping system and method to handle item variability

AssigneeAmazon Technologies, Inc.

InventorsConnor Yako, Fan Wang, Jianying Shi

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Abstract

A multi-modal, reconfigurable, and adaptive gripper system may include a suction cup assembly, a static finger assembly, and at least two reconfigurable finger assemblies that are controlled by a pressure-regulated actuation assembly. In order to grasp an item, a grasp mode, a finger configuration, and/or force(s) to apply to the item may be selected or determined. Various combinations of the suction cup assembly and finger assemblies may be used, with various finger configurations, and with various air pressures or differentials supplied by the pressure-regulated actuation assembly, in order to apply the selected force(s) to portions of the item and reliably grasp, transport, and release the item as part of various automated material handling processes.

Claims20

Dependent claims

A gripping system, comprising:

a central assembly;
a static finger assembly coupled to the central assembly, wherein the static finger assembly includes a first finger assembly that is movable via a first double acting pneumatic actuator between a raised position and a lowered position;
two reconfigurable finger assemblies rotatably coupled to the central assembly, wherein the two reconfigurable finger assemblies include a second finger assembly that is movable via a second double acting pneumatic actuator between a raised position and a lowered position and a third finger assembly that is movable via a third double acting pneumatic actuator between a raised position and a lowered position;
a suction cup assembly coupled to the central assembly, wherein the suction cup assembly includes a suction cup that is movable via a fourth double acting pneumatic actuator between a retracted position and an extended position;
a pressure-regulated actuation assembly configured to actuate the first, second, third, and fourth double acting pneumatic actuators, wherein the pressure-regulated actuation assembly includes a source, a control valve, and a plurality of pneumatic lines;
and
a control system configured to at least:
receive data associated with an item to grasp;
select a mode from a plurality of modes to grasp the item based on the data, wherein the plurality of modes include at least one of suction using the suction cup, or gripping using at least two of the first finger assembly, the second finger assembly, or the third finger assembly;
select a finger configuration from a plurality of finger configurations to grasp the item based on the data, wherein the plurality of finger configurations include an offset opposed configuration, an in-line opposed configuration, and a radial configuration;
select a force to apply to grasp the item based on the data;
and
grasp the item using the selected mode, the selected finger configuration, and the selected force.

10 more elements

A system, comprising:

a central assembly;
a static finger assembly coupled to the central assembly, wherein the static finger assembly includes a first finger assembly that is movable via a first pneumatic actuator between a raised position and a lowered position;
two reconfigurable finger assemblies rotatably coupled to the central assembly, wherein the two reconfigurable finger assemblies include a second finger assembly that is movable via a second pneumatic actuator between a raised position and a lowered position and a third finger assembly that is movable via a third pneumatic actuator between a raised position and a lowered position;
and
a pressure-regulated actuation assembly configured to actuate at least two of the first, second, or third pneumatic actuators, wherein the pressure-regulated actuation assembly includes a source, a control valve, and a plurality of pneumatic lines.

2 more elements

A method, comprising:

receiving, by a control system, data associated with an item to grasp via a gripping system, the gripping system comprising a central assembly, a static finger assembly coupled to the central assembly and including a first finger assembly movable via a first pneumatic actuator, two reconfigurable finger assemblies rotatably coupled to the central assembly and including a second finger assembly movable via a second pneumatic actuator and a third finger assembly movable via a third pneumatic actuator, and a pressure-regulated actuation assembly configured to actuate at least two of the first, second, or third pneumatic actuators via a source, a control valve, and a plurality of pneumatic lines;
selecting, by the control system, a force to apply to grasp the item based on the data;
selecting, by the control system, an air pressure to apply to the at least two of the first, second, or third pneumatic actuators to generate the selected force;
and
causing, by the control system, grasping of the item by at least two of the first, second, or third finger assemblies using the selected air pressure.

2 more elements

Dependencies are inferred from the claim text.