# US 2014/0195053 A1 · Visually controlled end effector > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195053 A1 - Document ID: US20140195053A1 - Status: Published application - Kind: A1 - Application number: 13/735,040 - Filed: 2013-01-07 - Published: 2014-07-10 - Earliest claimed: 2013-01-07 - Inventors: MILOS MISHA SUBOTINCIC - Web page: https://patentgrep.com/patent/US20140195053A1 ## CPC - B25J 9/1612: {characterised by the hand, wrist, grip control} - B25J 9/0093: {co-operating with conveyor means} - B25J 9/1697: {Vision controlled systems} - B25J 15/0616: {with vacuum} - B25J 15/0658: {Pneumatic type, e.g. air blast or overpressure} - B25J 19/023: {including video camera means} - Y10S 901/09: Closed loop, sensor feedback controls arm movement - Y10S 901/40: Vacuum or mangetic - 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}) - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract A visually controlled end effector is disclosed. The end effector comprises two or more operational members capable of picking up one or more randomly placed items. A crank is capable of actuation by a robot to orient a first one of said two or more operational members to pick up a first one of said one or more randomly placed items. The crank is further capable of actuation by the robot to orient a second one of said two or more operational members to pick up a second one of said one or more randomly placed items. The crank is further capable of orienting the first and second ones of the said two or more operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. A time savings of three robot transfers is thus made over prior art systems that transferred each individual product one by one. ## Claims ### Claim 1 An end effector, comprising: two or more operational members capable of picking up one or more randomly placed items; a crank capable of actuation by a robot to actuate a driver plate of the end effector to orient a first one of said two or more operational members to pick up a first one of said one or more randomly placed items; the crank further capable of actuation by the robot to actuate the driver plate of the end effector to orient a second one of said two or more operational members to pick up a second one of said one or more randomly placed items; and the crank further capable of actuating the driver plate to orient the first and second ones of the said two or more operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. ### Claim 2 (depends on 1) The end effector of claim 1, further comprising a robot output shaft that is capable of actuation of the crank. ### Claim 3 (depends on 1) The end effector of claim 1, wherein each operational member comprises a rotary shaft and suction cup, the suction cup capable of providing a vacuum to pick up and hold one of said randomly placed items. ### Claim 4 (depends on 3) The end effector of claim 3, further comprising a rotary shaft support through which each operational member is inserted. ### Claim 5 (depends on 4) The end effector of claim 4, further comprising a vacuum hose for each operational member capable of providing the vacuum for each suction cup. ### Claim 6 (depends on 1) The end effector of claim 1, wherein each operational member is capable of orienting according to information received regarding the randomly placed items from a scanning camera and robot controller. ### Claim 7 (depends on 1) The end effector of claim 1, wherein the randomly placed items are picked from a moving conveyer belt. ### Claim 8 A robot, comprising: a scanning camera; a scanning camera controller capable of causing the scanning camera to scan a plurality of randomly placed items; an end effector mounted to the robot, the end effector comprising a driver plate on which the plurality of operational members are indirectly connected; a robot controller capable of actuating the driver plate of the end effector for controlling orientation of the plurality of operational members capable of picking up the randomly placed items according to information received from the scanning camera; the robot controller capable of actuating the driver plate of the end effector for orienting a first one of said plurality of operational members to pick up a first one of said plurality of randomly placed items according to the information received from the scanning camera; the robot controller capable of actuating the driver plate of the end effector for orienting a second one of said plurality of operational members to pick up a second one of said plurality of randomly placed items; and the robot controller further capable of actuating the driver plate of the end effector for orienting the first and second ones of the plurality of operational members for placement of the first and second ones of said randomly placed items into a desired oriented condition. ### Claim 9 (depends on 8) The robot claim 8, further comprising a robot output shaft that is capable of actuation of a crank to actuate the driver plate. ### Claim 10 (depends on 9) The robot of claim 9, wherein each operational member comprises a rotary shaft and suction cup, the suction cup capable of providing a vacuum to pick up and hold one of said randomly placed items. ### Claim 11 (depends on 10) The robot of claim 10, the end effector further comprising a rotary shaft support through which each operational member is inserted. ### Claim 12 (depends on 11) The robot of claim 11, the end effector further comprising a vacuum hose for each operational member capable of providing the vacuum for each suction cup. ### Claim 13 (depends on 8) The robot of claim 8, wherein the plurality of randomly placed items are picked from a moving conveyer belt. ### Claim 14 (depends on 8) The robot of claim 8, wherein each operational member comprises a suction cup and shaft. ### Claim 15 (depends on 14) The robot of claim 14, the end effector further comprising a shaft support having an aperture for each operational member, each shaft inserted through the aperture for the operational member, each shaft fit into a driven crank, each driven crank capable of actuation by the driver plate.