Robotic picking apparatus and method for operating the same
AssigneePlus One Robotics, Inc.
InventorsMatthew Henry Churchill, Wayne M. Kirk, Zachary Bennett, Ivy Vasquez Sandoval
Life of this patent
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Abstract
A gripping system for grabbing and releasing an object using a robotic arm includes a gripper body for operably engaging the robotic arm. The gripper body includes a vacuum pathway, a vacuum source connector operably coupled to the vacuum pathway, and a compressed air source connector. A plurality of compensators are configured to extend and retract relative to the gripper body. Each one of the compensators is configured for being placed in communication with the vacuum pathway when the compensator is in the extended position and for being isolated from the vacuum pathway when the compensator is in the retracted position.
Claims15
A gripping system for grabbing and releasing an object using a robotic arm, the gripping system comprising:
- a gripper body for operably engaging the robotic arm, wherein the gripper body comprises a vacuum pathway, a vacuum source connector operably coupled to the vacuum pathway, and a compressed air source connector;
- a plurality of compensators configured to extend and retract relative to the gripper body, wherein each compensator of the plurality of compensators has an extended position and a retracted position defining a range of motion therebetween, and wherein each compensator of the plurality of compensators comprises:
- a cylinder having a distal end and a proximal end;
- a piston configured for reciprocal linear translation within the cylinder;
- a piston rod having a proximal end attached to the piston and a distal portion protruding out of the distal end of the cylinder;
- and
- a vacuum chamber surrounding the cylinder and having a distal portion fixedly coupled to the distal portion of the piston rod, wherein the vacuum chamber is configured for being placed in communication with the vacuum pathway when the compensator is in the extended position and for being isolated from the vacuum pathway when the compensator is in the retracted position;
- and
- a respective plurality of compressed air lines coupled to the compressed air source connector, wherein each one of the compressed air lines is operably coupled to a respective one of the compensators.
A compensator configured to be attached to a gripper body of a gripping system for grabbing and releasing an object using a robotic arm, the compensator comprising:
- a cylinder having a distal end and a proximal end;
- a piston configured for reciprocal linear translation within the cylinder;
- a piston rod having a proximal end attached to the piston and a distal portion protruding out of the distal end of the cylinder;
- and
- a vacuum chamber surrounding the cylinder and having a distal portion fixedly coupled to the distal portion of the piston rod, the vacuum chamber further comprising a vacuum port in a sidewall of thereof,
- wherein the compensator has a retracted position when the piston is in a proximal position and an extended position when the piston is in a distal position.
Dependencies are inferred from the claim text.