US 12,741,816 B1 · Robotic tool and process for picking objects from compartmented storage units

Abstract

Systems and techniques for picking an item from a container using an end effector are described. An example system includes a rack comprising a plurality of containers. Each container is configured to hold one or more items. The system also includes a robotic arm having an end effector configured to pick a target item from one of the plurality of containers. The end effector includes (i) first and second plates disposed parallel to each other and (ii) an extendable suction cup disposed between the first and second plates. The end effector is configured to extend the extendable suction cup to contact the target item, create a seal with the target item, after creating the seal, retract the extendable suction cup to remove the target item from the container, and after retracting the extendable suction cup, engage the target item between the first and second plates.

Claims13

Dependent claims

An end effector comprising:

first and second plates disposed parallel to each other;
and
an extendable suction cup disposed between the first and second plates, wherein:
the extendable suction cup is configured to:
pneumatically extend to contact a target item within a container;
create a seal with the target item;
and
pneumatically retract to remove the target item from the container;
the end-effector is further configured to:
identify a first item adjacent to a first side of the target item and a second item adjacent to a second side of the target item;
move the first plate so that it is aligned with the first item;
move the second plate so that it is aligned with the second item;
and
retract the extendable suction cup;
wherein the first plate and the second plate are configured to keep the first and second items fixed within the container while the extendable suction cup is retracted to remove the target item from the container.

12 more elements

A method comprising:

identifying a target item to pick from a container using an end effector, the end effector comprising:
first and second plates disposed parallel to each other;
and
an extendable suction cup disposed between the first and second plates;
extending the extendable suction cup towards the target item;
contacting the extendable suction cup with the target item;
creating a seal between the extendable suction cup and the target item;
after creating the seal, retracting the extendable suction cup to remove the target item from the container;
engaging the target item between the first and second plates, after retracting the extendable suction cup;
identifying a first item adjacent to a first side of the target item and a second item adjacent to a second side of the target item;
moving the first plate so that it is aligned with the first item;
moving the second plate so that it is aligned with the second item;
and
retracting the extendable suction cup after the first plate is aligned with the first item and the second plate is aligned with the second item;
wherein the first plate and the second plate are configured to keep the first and second items fixed within the container while the extendable suction cup is retracted to remove the target item from the container.

12 more elements

Dependencies are inferred from the claim text.

Robotic tool and process for picking objects from compartmented storage units

Life of this patent

Robotic tool and process for picking objects from compartmented storage units

Life of this patent

Abstract

Claims13