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US 12,686,138 B2Granted
Dual flow integrated suction tool for robotic end-effectors
AssigneesToyota Research Institute, Inc., Toyota Jidosha Kabushiki Kaisha
InventorLukas S. Kaul
Life of this patent
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Abstract
A robotic arm includes a suction tool including a suction mechanism, a first pump, and a second pump. The first pump is operable to provide a first suction force and a first flow rate to the suction mechanism, and the second pump is operable to provide a second suction force and a second flow rate to the suction mechanism. A connection member places the first pump and the second pump in fluid communication with the suction mechanism.
Claims19
A robotic arm comprising:
- an arm segment;
- and
- a suction tool provided at an end of the arm segment, the suction tool comprising;
- a suction mechanism;
- a first pump operable to provide a first suction force and a first flow rate at the first pump and to the suction mechanism;
- a second pump operable to provide a second suction force and a second flow rate at the second pump and to the suction mechanism;
- and
- a connection member placing the first pump and the second pump in fluid communication with the suction mechanism,
- wherein the first suction force provided by the first pump is different from the second suction force provided by the second pump.
6 more elements
A suction tool comprising:
- a suction mechanism;
- a first pump operable to provide a first suction force and a first flow rate at the first pump and to the suction mechanism;
- a second pump operable to provide a second suction force and a second flow rate at the second pump and to the suction mechanism;
- a connection member placing the first pump and the second pump in fluid communication with the suction mechanism;
- and
- an electronic control unit that independently operates each of the first pump and the second pump based on a detected pressure within the suction mechanism,
- wherein the second suction force is greater than the first suction force and the first flow rate is greater than the second flow rate.
4 more elements
A method comprising:
- positioning a suction mechanism of a suction tool adjacent an object;
- activating a first pump generating a first flow rate and a first suction force at the first pump and within the suction mechanism;
- activating a second pump generating a second flow rate and a second suction force at the second pump and within the suction mechanism, the second flow rate and the second suction force being different than the first flow rate and the first suction force, respectively;
- creating a seal between the suction mechanism and the object;
- detecting an internal pressure within the suction mechanism of the suction tool using a pressure sensor;
- and
- determining if the internal pressure is less than or equal to a first threshold pressure, equal to or greater than a second threshold pressure, or between the first threshold pressure and the second threshold pressure.
4 more elements
Dependencies are inferred from the claim text.