Robotic vacuum gripper with integrated force-sensing

Abstract

A robotic end-effector for vacuum-based object handling is disclosed, incorporating integrated force sensing for accurate weight measurement at the point of grasp. The end-effector includes at least one vacuum cup mounted on a first portion that moves axially relative to a second portion attached to a robotic arm. A vacuum chamber is maintained at substantially constant volume and pressure during operation, isolating weight measurements from disturbances caused by vacuum dynamics or arm motion. Force sensors positioned in the load path enable detection of object mass, torque, and/or center of gravity. Embodiments include rolling diaphragms, pressure-balanced bellows, flange-based designs with multiple load cells, or array-based sets of vacuum cups. The system may operate with high-flow vacuum and provide force sensing, improving throughput and reducing mis-picks in automated pick-and-place environments.

Dependencies are inferred from the claim text.