Robotic system with gripping mechanism
AssigneeMUJIN, Inc.
InventorHironori MIZOGUCHI
Life of this patent
Estimating the term…
Abstract
A robotic system is provided. The robotic system may include an end-effector configured for grasping an object, a sensor unit monitoring contact information received from the contact limit sensor, and a controller, coupled to the sensor unit. The end-effector may include a suction cup assembly for engaging the object, and a contact limit sensor for detecting a pressure associated with the engagement between the suction cup assembly and the object, wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold. The controller may execute an operation for controlling the end-effector to limit movement of the end-effector toward the object based on the contact information received to prevent damage to the object.
Claims20
A robotic system comprising:
- an end-effector configured for grasping an object, the end-effector including:
- a suction cup assembly configured to engage the object;
- and
- a contact limit sensor configured to detect a pressure associated with the engagement between the suction cup assembly and the object, wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold;
- a sensor unit monitoring contact information received from the contact limit sensor;
- and
- a controller, coupled to the sensor unit, configured to execute an operation for controlling the end-effector to limit movement of the end-effector toward the object based on the contact information received to prevent damage to the object.
An object handling unit comprising:
- a robotic arm;
- and
- an end-effector configured for grasping an object, the end-effector including:
- a suction cup assembly configured to engage the object;
- and
- a contact limit sensor configured to detect a pressure associated with the engagement between the suction cup assembly and the object,
- wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold, and
- wherein the transmitted contact information causes movement of the end-effector toward the object to be limited to prevent damage to the object.
A gripper attachment for an object handling system comprising:
- an end-effector configured for grasping an object, the end effector including:
- a suction cup assembly configured to engage the object, the suction cup assembly including:
- a housing;
- a first suction cup configured to couple to a vacuum pressure source, wherein the first suction cup is displaceable relative to the housing;
- and
- a second suction cup coupled to a vacuum pressure source, wherein the second suction cup is displaceable relative to the housing and independent of the first suction cup;
- and
- a contact limit sensor configured to detect a pressure associated with the engagement between the suction cup assembly and the object based on displacement of the first suction cup and the second section cup relative to the housing,
- wherein the contact limit sensor transmits contact information when the contact limit sensor detects the pressure exceeding a contact threshold and
- wherein the transmitted contact information causes movement of the end-effector toward the object to be limited to prevent damage to the object.
Dependencies are inferred from the claim text.