Google Patentsopen access

End effector — Bastian Solutions, Llc (US20210069916A1)

ABSTRACT

Abstract

A robotic system includes an end effector with one or more fin grippers that have one or more vacuum ports. The fin grippers are made of elastic material. The fin grippers each include contact and exterior flanges joined together with a series of crossbeams. The crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges. In one form, the vacuum ports are located at fingertip ends of the fin grippers, and the vacuum ports include vacuum cups.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 16/205,367, filed Nov. 30, 2018, which is hereby incorporated by reference. U.S. patent application Ser. No. 16/205,367, filed Nov. 30, 2018, claims the benefit of U.S. Patent Application No. 62/593,779, filed Dec. 1, 2017, which are hereby incorporated by reference.

BACKGROUND

The present disclosure relates to robotics, and more particularly to robotic arms and attachments thereof.

The robotics industry includes robotic arms that are capable of many degrees of freedom. These arms are often used to perform tasks that are repetitive or dangerous for a person. For example, a robotic arm may be tasked with industrial welding, such as in an automobile factory. In another example, a robotic arm may load a machine with parts, such as blanks for a CNC mill. In another example, an arm may be tasked with moving objects from one location to another.

In performing these tasks, the robotic arm will often be required to dexterously interact with objects. To achieve the needed level of dexterity, an additional apparatus, such as an end effector, is often paired with the robotic arm. End effectors are typically chosen to best suit the task that the robotic arm will perform. For example, an end effector may have two fingers that can open and close, thus enabling the robotic arm to pick up the object. Typically, these fingers are fashioned from rigid materials and move in predefined opening or closing paths.

Automated Guided Vehicles (“AGVs”) are currently being used in industry to move goods through warehouse systems. AGVs are often electrical in nature, using electric motors connected to wheels to traverse a warehouse environment. Some embodiments of AGVs are automated versions of traditionally non-automated vehicles, such as fork lifts. Other embodiments are designed from the beginning for autonomous operation. AGVs often use vision systems, such as lidar, coupled with a computing system to create a digital representation of the space surrounding it.

Thus, there is a need for improvement in this field.

SUMMARY

A unique end effector or end of arm tool (EoAT) has been developed that can be used on an Automated Mobile Unit (AMU) such as a robotic shuttle. The EoAT includes a combination of a fin gripper with strategically placed vacuum cups. In particular, the EoAT includes three fin grippers, an extendable palm vacuum cup, fingertip vacuum cups placed at the ends of the fin grippers, and inside finger digit vacuum cups. This unique combination allows the EoAT to pick a wide variety of items both large and small as well as those that are difficult to handle. In particular, the system allows individual products to be picked up via the fin grippers, a vacuum pickup followed by using the grippers, a single gripping option where the finger tips on the ends of the fins are used alone, a multi-tip configuration in which the vacuum cups at the end of the tips are brought closer together and all of them are used to pick up the individual products, and a single finger adjacent picking up using the inside. Of course, there other ways in which the EoAT can pick or manipulate items. While the illustrated example includes three fin grippers, other examples can include more or less of them.

Aspect 1 generally concerns a system that includes a end effector including one or more fin grippers having one or more vacuum ports.

Aspect 2 generally concerns the system of any previous aspect in which the vacuum ports are located at fingertip ends of the fin grippers.

Aspect 3 generally concerns the system of any previous aspect in which the vacuum ports include vacuum cups.

Aspect 4 generally concerns the system of any previous aspect in which the vacuum ports are located on interior surfaces of the fin grippers.

Aspect 5 generally concerns the system of any previous aspect in which the fin grippers are made of elastic material.

Aspect 6 generally concerns the system of any previous aspect in which the fin grippers each include contact and exterior flanges joined together with a series of crossbeams.

Aspect 7 generally concerns the system of any previous aspect in which the contact and exterior flanges are joined together and extend at an acute angle from a fingertip.

Aspect 8 generally concerns the system of any previous aspect in which the fin grippers have an asymmetric shape.

Aspect 9 generally concerns the system of any previous aspect in which the contact flange is straight and the exterior flange is curved.

Aspect 10 generally concerns the system of any previous aspect in which the crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges.

Aspect 11 generally concerns the system of any previous aspect in which the finger grippers have a vacuum port support bracket at the fingertip.

Aspect 12 generally concerns the system of any previous aspect in which the end effector includes a pneumatic sensor manifold configured to sense the vacuum applied by the vacuum cups.

Aspect 13 generally concerns the system of any previous aspect in which the end effector includes a controller configured to receive pressure data from the pneumatic sensor manifold.

Aspect 14 generally concerns the system of any previous aspect in which the end effector includes one or more tubes connecting the pneumatic sensor manifold and the vacuum cups.

Aspect 15 generally concerns the system of any previous aspect in which the fin grippers define one or more vacuum tube guide channels in which the tube extends inside the fin grippers.

Aspect 16 generally concerns the system of any previous aspect in which the end effector includes an actuator configured to actuate the fin grippers.

Aspect 17 generally concerns the system of any previous aspect in which the actuator includes a linkage drive and one or more linkages coupled between the fin grippers and the drive.

Aspect 18 generally concerns the system of any previous aspect in which the actuator includes a motor and a gearbox operatively connected between the motor and linkage drive.

Aspect 19 generally concerns the system of any previous aspect in which the actuator includes a threaded drive shaft and a linkage plate threadedly connected to the drive shaft.

Aspect 20 generally concerns the system of any previous aspect in which the end effector includes a hub with a palm plate to which the fin grippers are pivotally coupled.

Aspect 21 generally concerns the system of any previous aspect in which the vacuum cups includes an extendable palm vacuum cup configured to extend from the palm plate.

Aspect 22 generally concerns the system of any previous aspect in which the end effector has one or more sensors coupled to the palm plate.

Aspect 23 generally concerns the system of any previous aspect in which the sensors include a vision system sensor.

Aspect 24 generally concerns a fin gripper including a series of crossbeams with tube openings to form a tube guide channel.

Aspect 25 generally concerns a method of gripping a first object with fin grippers of an EoAT and securing a second object with vacuum ports.

Aspect 26 generally concerns a finger that includes a top side, a bottom side, a first end, and a second end. The top side includes a semicircular portion spanning between the first end and the second end of the finger. A first vacuum port is formed within the first end. A second vacuum port is formed within the second end. A vacuum duct connects the first vacuum port to the second vacuum port, formed within the semicircular portion.

Aspect 27 generally concerns the finger of any previous aspect in which the finger includes an elastomeric material.

Aspect 28 generally concerns the finger of any previous aspect which includes one or more bands spanning a distance between the top side and the bottom side.

Aspect 29 generally concerns the finger of any previous aspect in which the finger further includes a third vacuum port formed within the bottom side and connected to the vacuum duct.

Aspect 30 generally concerns the finger of any previous aspect in which the finger further includes a check valve positioned between the vacuum duct and the second vacuum port.

Aspect 31 generally concerns the finger of any previous aspect in which the finger further includes a pivot opening and an actuator connection portion both formed into the first end.

Aspect 32 generally concerns an end effector that includes a first finger and a second finger. The first finger has a first end and a second end. The first finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the first finger is pivotally mounted to a hub. The second finger has a first end and a second end. The second finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the second finger is pivotally mounted to the hub.

Aspect 33 generally concerns the end effector of any previous aspect that further includes a first motor, a first actuator linkage, and a second actuator linkage. The first actuator linkage is connected to the first end of the first finger, and the first actuator linkage is connected to the first motor. The second actuator linkage is connected to the first end of the second finger, and the second actuator linkage is connected to the first motor.

Aspect 34 generally concerns the end effector of any previous aspect that further includes a third finger. The third finger has a first end and a second end. The third finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the third finger is pivotally mounted to the hub. A third actuator linkage is connected to the first end of the third finger, and the third actuator linkage is connected to the first motor.

Aspect 35 generally concerns the end effector of any previous aspect that further includes an extendable vacuum projection mounted substantially within the hub.

Aspect 36 generally concerns the end effector of any previous aspect that further includes a second motor. The second motor is connected to the extendable vacuum projection.

Aspect 37 generally concerns the end effector of any previous aspect in which the hub is configured to connect to a robotic arm.

Aspect 38 generally concerns the end effector of any previous aspect in which the first finger includes an elastomeric material.

Further forms, objects, features, aspects, benefits, advantages, and embodiments of the present invention will become apparent from a detailed description and drawings provided herewith.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a perspective view of an embodiment of an end effector.

FIG. 2 shows a side view of the end effector of FIG. 1 .

FIG. 3 shows a side view of the end effector of FIG. 1 in a closed position.

FIG. 4 shows an exploded perspective view of the end effector of FIG. 1 .

FIG. 5 shows an exploded side view of the end effector of FIG. 1 .

FIG. 6 shows a perspective view of one embodiment of a finger that may be used with an end effector.

FIG. 7 shows a side view of the finger of FIG. 6 .

FIG. 8 shows a cutaway side view of the finger of FIG. 6 .

FIG. 9 shows a cutaway end view of the finger of FIG. 6 .

FIG. 10 shows a cutaway end view of the finger of FIG. 6 , with a vacuum connector and a check valve.

FIG. 11 a shows a front perspective view of a finger.

FIG. 11 b shows a side perspective view of a finger.</div

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 16/205,367, filed Nov. 30, 2018, which is hereby incorporated by reference. U.S. patent application Ser. No. 16/205,367, filed Nov. 30, 2018, claims the benefit of U.S. Patent Application No. 62/593,779, filed Dec. 1, 2017, which are hereby incorporated by reference.

BACKGROUND

The present disclosure relates to robotics, and more particularly to robotic arms and attachments thereof.

The robotics industry includes robotic arms that are capable of many degrees of freedom. These arms are often used to perform tasks that are repetitive or dangerous for a person. For example, a robotic arm may be tasked with industrial welding, such as in an automobile factory. In another example, a robotic arm may load a machine with parts, such as blanks for a CNC mill. In another example, an arm may be tasked with moving objects from one location to another.

In performing these tasks, the robotic arm will often be required to dexterously interact with objects. To achieve the needed level of dexterity, an additional apparatus, such as an end effector, is often paired with the robotic arm. End effectors are typically chosen to best suit the task that the robotic arm will perform. For example, an end effector may have two fingers that can open and close, thus enabling the robotic arm to pick up the object. Typically, these fingers are fashioned from rigid materials and move in predefined opening or closing paths.

Automated Guided Vehicles (“AGVs”) are currently being used in industry to move goods through warehouse systems. AGVs are often electrical in nature, using electric motors connected to wheels to traverse a warehouse environment. Some embodiments of AGVs are automated versions of traditionally non-automated vehicles, such as fork lifts. Other embodiments are designed from the beginning for autonomous operation. AGVs often use vision systems, such as lidar, coupled with a computing system to create a digital representation of the space surrounding it.

Thus, there is a need for improvement in this field.

SUMMARY

A unique end effector or end of arm tool (EoAT) has been developed that can be used on an Automated Mobile Unit (AMU) such as a robotic shuttle. The EoAT includes a combination of a fin gripper with strategically placed vacuum cups. In particular, the EoAT includes three fin grippers, an extendable palm vacuum cup, fingertip vacuum cups placed at the ends of the fin grippers, and inside finger digit vacuum cups. This unique combination allows the EoAT to pick a wide variety of items both large and small as well as those that are difficult to handle. In particular, the system allows individual products to be picked up via the fin grippers, a vacuum pickup followed by using the grippers, a single gripping option where the finger tips on the ends of the fins are used alone, a multi-tip configuration in which the vacuum cups at the end of the tips are brought closer together and all of them are used to pick up the individual products, and a single finger adjacent picking up using the inside. Of course, there other ways in which the EoAT can pick or manipulate items. While the illustrated example includes three fin grippers, other examples can include more or less of them.

Aspect 1 generally concerns a system that includes a end effector including one or more fin grippers having one or more vacuum ports.

Aspect 2 generally concerns the system of any previous aspect in which the vacuum ports are located at fingertip ends of the fin grippers.

Aspect 3 generally concerns the system of any previous aspect in which the vacuum ports include vacuum cups.

Aspect 4 generally concerns the system of any previous aspect in which the vacuum ports are located on interior surfaces of the fin grippers.

Aspect 5 generally concerns the system of any previous aspect in which the fin grippers are made of elastic material.

Aspect 6 generally concerns the system of any previous aspect in which the fin grippers each include contact and exterior flanges joined together with a series of crossbeams.

Aspect 7 generally concerns the system of any previous aspect in which the contact and exterior flanges are joined together and extend at an acute angle from a fingertip.

Aspect 8 generally concerns the system of any previous aspect in which the fin grippers have an asymmetric shape.

Aspect 9 generally concerns the system of any previous aspect in which the contact flange is straight and the exterior flange is curved.

Aspect 10 generally concerns the system of any previous aspect in which the crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges.

Aspect 11 generally concerns the system of any previous aspect in which the finger grippers have a vacuum port support bracket at the fingertip.

Aspect 12 generally concerns the system of any previous aspect in which the end effector includes a pneumatic sensor manifold configured to sense the vacuum applied by the vacuum cups.

Aspect 13 generally concerns the system of any previous aspect in which the end effector includes a controller configured to receive pressure data from the pneumatic sensor manifold.

Aspect 14 generally concerns the system of any previous aspect in which the end effector includes one or more tubes connecting the pneumatic sensor manifold and the vacuum cups.

Aspect 15 generally concerns the system of any previous aspect in which the fin grippers define one or more vacuum tube guide channels in which the tube extends inside the fin grippers.

Aspect 16 generally concerns the system of any previous aspect in which the end effector includes an actuator configured to actuate the fin grippers.

Aspect 17 generally concerns the system of any previous aspect in which the actuator includes a linkage drive and one or more linkages coupled between the fin grippers and the drive.

Aspect 18 generally concerns the system of any previous aspect in which the actuator includes a motor and a gearbox operatively connected between the motor and linkage drive.

Aspect 19 generally concerns the system of any previous aspect in which the actuator includes a threaded drive shaft and a linkage plate threadedly connected to the drive shaft.

Aspect 20 generally concerns the system of any previous aspect in which the end effector includes a hub with a palm plate to which the fin grippers are pivotally coupled.

Aspect 21 generally concerns the system of any previous aspect in which the vacuum cups includes an extendable palm vacuum cup configured to extend from the palm plate.

Aspect 22 generally concerns the system of any previous aspect in which the end effector has one or more sensors coupled to the palm plate.

Aspect 23 generally concerns the system of any previous aspect in which the sensors include a vision system sensor.

Aspect 24 generally concerns a fin gripper including a series of crossbeams with tube openings to form a tube guide channel.

Aspect 25 generally concerns a method of gripping a first object with fin grippers of an EoAT and securing a second object with vacuum ports.

Aspect 26 generally concerns a finger that includes a top side, a bottom side, a first end, and a second end. The top side includes a semicircular portion spanning between the first end and the second end of the finger. A first vacuum port is formed within the first end. A second vacuum port is formed within the second end. A vacuum duct connects the first vacuum port to the second vacuum port, formed within the semicircular portion.

Aspect 27 generally concerns the finger of any previous aspect in which the finger includes an elastomeric material.

Aspect 28 generally concerns the finger of any previous aspect which includes one or more bands spanning a distance between the top side and the bottom side.

Aspect 29 generally concerns the finger of any previous aspect in which the finger further includes a third vacuum port formed within the bottom side and connected to the vacuum duct.

Aspect 30 generally concerns the finger of any previous aspect in which the finger further includes a check valve positioned between the vacuum duct and the second vacuum port.

Aspect 31 generally concerns the finger of any previous aspect in which the finger further includes a pivot opening and an actuator connection portion both formed into the first end.

Aspect 32 generally concerns an end effector that includes a first finger and a second finger. The first finger has a first end and a second end. The first finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the first finger is pivotally mounted to a hub. The second finger has a first end and a second end. The second finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the second finger is pivotally mounted to the hub.

Aspect 33 generally concerns the end effector of any previous aspect that further includes a first motor, a first actuator linkage, and a second actuator linkage. The first actuator linkage is connected to the first end of the first finger, and the first actuator linkage is connected to the first motor. The second actuator linkage is connected to the first end of the second finger, and the second actuator linkage is connected to the first motor.

Aspect 34 generally concerns the end effector of any previous aspect that further includes a third finger. The third finger has a first end and a second end. The third finger includes a first vacuum port, a second vacuum port, and a vacuum duct connecting the first and second vacuum ports. The first end of the third finger is pivotally mounted to the hub. A third actuator linkage is connected to the first end of the third finger, and the third actuator linkage is connected to the first motor.

Aspect 35 generally concerns the end effector of any previous aspect that further includes an extendable vacuum projection mounted substantially within the hub.

Aspect 36 generally concerns the end effector of any previous aspect that further includes a second motor. The second motor is connected to the extendable vacuum projection.

Aspect 37 generally concerns the end effector of any previous aspect in which the hub is configured to connect to a robotic arm.

Aspect 38 generally concerns the end effector of any previous aspect in which the first finger includes an elastomeric material.

Further forms, objects, features, aspects, benefits, advantages, and embodiments of the present invention will become apparent from a detailed description and drawings provided herewith.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a perspective view of an embodiment of an end effector.

FIG. 2 shows a side view of the end effector of FIG. 1 .

FIG. 3 shows a side view of the end effector of FIG. 1 in a closed position.

FIG. 4 shows an exploded perspective view of the end effector of FIG. 1 .

FIG. 5 shows an exploded side view of the end effector of FIG. 1 .

FIG. 6 shows a perspective view of one embodiment of a finger that may be used with an end effector.

FIG. 7 shows a side view of the finger of FIG. 6 .

FIG. 8 shows a cutaway side view of the finger of FIG. 6 .

FIG. 9 shows a cutaway end view of the finger of FIG. 6 .

FIG. 10 shows a cutaway end view of the finger of FIG. 6 , with a vacuum connector and a check valve.

FIG. 11 a shows a front perspective view of a finger.

FIG. 11 b shows a side perspective view of a finger.

FIG. 12 shows an end effector connected to a robotic arm.

FIG. 13 shows an end effector connected to a robotic arm and mounted on an AGV.

FIG. 14 is a top perspective view of an end effector.

FIG. 15 is a bottom perspective view of the FIG. 14 end effector.

FIG. 16 is a top view of the FIG. 14 end effector.

FIG. 17 is a top perspective view of the FIG. 14 end effector with the housing removed.

FIG. 18 is a top view of the FIG. 14 end effector with the housing removed.

FIG. 19 is a top perspective view of the FIG. 14 end effector with selected components removed to view the actuator.

FIG. 20 is a bottom perspective view of the FIG. 14 end effector with selected components removed to view the gearbox of the actuator.

FIG. 21 is a side view of a fin gripper found in the FIG. 14 end effector.

FIG. 22 is a rear view of the FIG. 21 fin gripper.

FIG. 23 is a front view of the FIG. 21 fin gripper.

FIG. 24 is a cross-sectional view of the FIG. 21 fin gripper as taken along line 24 - 24 in FIG. 23 .

DETAILED DESCRIPTION OF SELECTED EMBODIMENTS

In the following description, reference is made to the accompanying drawings that form a part thereof, which is shown by way of illustration of specific exemplary embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention, and it is to be understood that modifications to the various disclosed embodiments may be made, and other embodiments may be utilized, without departing from the spirit and scope of the present invention. The following detailed description is, therefore, not to be taken in a limiting sense.

For the purpose of promoting an understanding of the principles of the invention, reference will now be made to the embodiments illustrated in the drawings and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the invention is thereby intended. Any alterations and further modifications in the described embodiments, and any further applications of the principles of the invention as described herein are contemplated as would normally occur to one skilled in the art to which the invention relates. One embodiment of the invention is shown in great detail, although it will be apparent to those skilled in the relevant art that some features that are not relevant to the present invention may not be shown for the sake of clarity.

FIG. 1 shows a perspective view of an end effector 100 . The end effector 100 includes a first finger 110 , a second finger 120 , and a third finger 130 , each pivotally connected to a hub 140 . FIG. 2 shows a side view of the end effector 100 with the

fingers

110 , 120 , 130 in an open position. FIG. 3 shows a side view of the end effector 100 with the

fingers

110 , 120 , 130 in a closed position. FIGS. 4 and 5 show exploded perspective views of the end effector 100 .

As shown in FIGS. 1, 2, 3, 4, and 5 , the first finger 110 is pivotally connected to the hub 140 with shaft 113 and to a first actuator linkage 112 at its proximal end (best shown in FIG. 4 ). The second finger 120 is pivotally connected to the hub 140 with shaft 123 and is connected to a second actuator linkage 122 , and the third finger 130 is pivotally connected to the hub 140 with shaft 133 and is connected to a third actuator linkage 132 . Each

finger

110 , 120 , 130 includes a

port

114 , 124 , 134 , respectively, that may be connected to a vacuum source, as well as cross beams 115 , 125 , 135 connecting the top of the finger with the bottom. Additionally, in the embodiment shown, each finger includes an

elastomeric pad

118 , 128 , 138 and

vacuum ports

117 , 127 , 137 on the bottom side of the finger, as well as a

vacuum port

119 , 129 , 139 at the distal end. An extendable vacuum projection 150 is positioned within the hub 140 . The extendable vacuum projection 150 may be connected to a vacuum source.

The end effector 100 further includes a first motor 160 and a second motor 170 . First motor 160 may be connected to

actuator linkages

112 , 122 , and 132 . Second motor 170 may be connected to the extendable vacuum projection 150 .

Though the end effector embodiment in FIGS. 1, 2, 3, and 4 illustrates an end effector with three fingers, an end effector may include more or fewer finger. For example, an end effector that is substantially similar to end effector 100 may include two finger or four fingers or more, as would be understood by one of ordinary skill in the art.

FIG. 6 shows a perspective view of one embodiment of a finger 200 that may be used with an end effector, such as the end effector 100 shown in FIG. 1 . FIG. 7 shows a side view of the finger 200 . As shown in FIGS. 6 and 7 , the finger 200 has a top side 230 and a bottom side 240 . Cross beams 250 span the distance from the top side 230 to the bottom side 240 . At a proximal end 210 of the finger 200 , a pivot opening 211 is formed into a side, which may mate with a shaft, such as shaft 113 shown in FIG. 1 . Additionally, an actuator connection portion 214 is formed into another side of the finger 200 . A first vacuum port 216 is shown above the actuator connection portion 214 . A second vacuum port 226 with an elastomeric flare 224 is shown at distal end 220 of the finger 200 . The finger 200 further includes an elastomeric pad 228 .

FIG. 8 shows a cutaway side view of the finger 200 . As shown in FIG. 8 , a vacuum duct 236 runs along the top side 230 of the finger 200 , from the first vacuum port 216 to the second vacuum port 226 . A first side vacuum port 246 and a second side vacuum port 256 are also shown and are connected to the vacuum duct 236 . Though the finger 200 shown in FIGS. 6, 7, and 8 includes three

vacuum ports

226 , 246 , and 256 at the distal end 220 of the finger 200 , the finger 200 may include a smaller or greater number of vacuum ports, as would be understood by one of ordinary skill in the art. For example, an embodiment of a finger may include a single side vacuum port. In another example, an embodiment of a finger may include three side vacuum ports.

FIG. 9 shows a cutaway end view of a finger 300 . As shown, finger 300 includes a vacuum duct 336 within a semicircular portion 332 . The semicircular portion of the finger 300 may substantially span the distance between a proximal and a distal end. In addition to containing the vacuum duct 336 , the semicircular portion 332 may increase the rigidity and stability of the finger 300 .

FIG. 10 shows a cutaway end view of a finger 400 , which may be similar to the finger 200 shown in FIG. 2 . As shown, finger 400 includes a check valve 438 separating a vacuum duct 436 from a vacuum port 456 . Check valve 438 may substantially restrict flow between vacuum duct 436 to vacuum port 456 when a vacuum source is attached to vacuum duct 436 . Upon covering vacuum port 456 , such as with an object, the check valve 438 may reduce its restriction.

Material used to form

fingers

200 , 300 , or 400 , for example, may be substantially elastomeric, enabling

fingers

200 , 300 , 400 to flex, twist, or to conform to another shape when sufficient pressure is applied. FIGS. 11 a and 11 b show a front perspective and side perspective view of an embodiment of a finger 500 made with a substantially elastomeric material. As shown, sufficient pressure has been applied to the finger 500 , causing the finger 500 to flex or conform along the length or width of the finger 500 . In practice, FIGS. 11 a and 11 b may represent the finger 500 being positioned to contact an object, with the finger 500 substantially conforming to the shape of the object as pressure is applied, advantageously increasing the contact area and thus friction. When used within an end effector, such as, for example, the end effector 100 , increased contact area and friction will typically enable a better grip.

Referring again to FIGS. 1, 2, 3, 4, and 5 end effector 100 can be used to grip or control an object by closing one or more of

fingers

110 , 120 , 130 on the object, by using a vacuum port, such as

vacuum ports

117 , 119 , 127 , 129 , 137 , 139 , or by using a combination thereof.

In a first example, end effector 100 may be used to grip an object with

fingers

110 , 120 , 130 by activating first motor 160 , moving

actuator linkages

112 , 122 , 132 such that the

fingers

110 , 120 , 130 pivot about

shafts

113 , 123 , 133 , thus closing around the object.

Finger

110 , 120 , 130 may substantially conform to the shape of the object as they close. Though this example is described using three fingers, two fingers may be used, as one of ordinary skill in the art would understand.

In a second example, end effector 100 may be used to secure an object with a single finger, such as finger 110 , by moving the finger 110 to substantially contact an object with vacuum port 119 , creating a vacuum between finger 110 and the object, thus securing the object to the end effector 100 .

In a third example, end effector 100 may be used to secure an object with a plurality of fingers, such as

fingers

110 , 120 , 130 , by moving the

fingers

110 , 120 , 130 to substantially contact an object with <figur

CLAIMS

Claims ( 19 )

What is claimed is:

1 . A system, comprising:

an end effector including one or more fin grippers that have one or more vacuum ports; wherein the fin grippers each include contact and exterior flanges joined together with a series of crossbeams; wherein the contact flange is configured to contact a gripped object; wherein the crossbeams are spaced apart from one another; and wherein the crossbeams are formed of an elastic material to facilitate deformation of the fin grippers during gripping.

2 . The system of claim 1 , wherein the contact flange and the exterior flange form an asymmetric shape to facilitate the contact flange bending around the gripped object when gripped.

3 . The system of claim 2 , wherein the contact flange is straight and the exterior flange is curved.

4 . The system of claim 1 , wherein the contact and exterior flanges are joined together and extend at an acute angle from a fingertip.

5 . The system of claim 4 , wherein the crossbeams each define a tube opening to form a tube guide channel between the contact and exterior flanges.

6 . The system of claim 4 , wherein the fin grippers have a vacuum port support bracket at the fingertip.

7 . The system of claim 6 , wherein the vacuum ports include vacuum cups.

8 . The system of claim 7 , wherein the end effector includes a pneumatic sensor manifold configured to sense the vacuum applied by the vacuum cups.

9 . The system of claim 1 , wherein the end effector includes an actuator configured to actuate the fin grippers.

10 . The system of claim 9 , wherein the actuator includes a linkage drive and one or more linkages coupled between the fin grippers and the drive.

11 . The system of claim 10 , wherein:

the actuator includes a motor and a gearbox operatively connected between the motor and linkage drive; and the actuator includes a threaded drive shaft and a linkage plate threadedly connected to the drive shaft.

12 . The system of claim 1 , wherein the end effector includes a hub with a palm plate to which the fin grippers are pivotally coupled.

13 . The system of claim 12 , wherein:

the vacuum ports include vacuum cups; and the vacuum cups include an extendable palm vacuum cup configured to extend from the palm plate.

14 . The system of claim 12 , wherein:

the end effector has one or more sensors coupled to the palm plate; and the sensors include a vision system sensor.

15 . The system of claim 1 , wherein the fin grippers each have a fingertip end where the contact flange and the exterior flange are joined together.

16 . The system of claim 15 , wherein the vacuum ports that include at least include a vacuum cup located at the fingertip end configured to secure difficult to grip objects via suction.

17 . A method, comprising:

gripping a first object with fin grippers of an end effector, wherein the end effector includes one or more fin grippers that have one or more vacuum ports; wherein the fin grippers each include contact and exterior flanges joined together with a series of crossbeams; wherein the crossbeams are spaced apart from one another; wherein the crossbeams are formed of an elastic material to facilitate deformation of the fin grippers during gripping; wherein said gripping includes deforming the fin grippers to bend around the first object; wherein the crossbeams deform as the contact flange bends during the gripping; and securing a second object with vacuum ports.

18 . The method of claim 17 , further comprising:

releasing the first object from the fin grippers by opening the fin grippers; and releasing the second object by ceasing suction to the vacuum port.

19 . The method of claim 17 , wherein said securing the second object includes applying suction to the vacuum port.

US16/949,840

2017-12-01

2020-11-17

End effector

Abandoned

US20210069916A1

( en )

Priority Applications (1)

Application Number

Priority Date

Filing Date

Title

US16/949,840

US20210069916A1

( en )

2017-12-01

2020-11-17

End effector

Applications Claiming Priority (3)

Application Number

Priority Date

Filing Date

Title

US201762593779P

2017-12-01

2017-12-01

US16/205,367

US10864641B2

( en )

2017-12-01

2018-11-30

End effector

US16/949,840

US20210069916A1

( en )

2017-12-01

2020-11-17

End effector

Related Parent Applications (1)

Application Number

Title

Priority Date

Filing Date

US16/205,367

Continuation

US10864641B2

( en )

2017-12-01

2018-11-30

End effector

Publications (1)

Publication Number

Publication Date

US20210069916A1

true

US20210069916A1 ( en )

2021-03-11

Family

ID=66657608

Family Applications (2)

Application Number

Title

Priority Date

Filing Date

US16/205,367

Expired - Fee Related

US10864641B2

( en )

2017-12-01

2018-11-30

End effector

US16/949,840

Abandoned

US20210069916A1

( en )

2017-12-01

2020-11-17

End effector

Family Applications Before (1)

Application Number

Title

Priority Date

Filing Date

US16/205,367

Expired - Fee Related

US10864641B2

( en )

2017-12-01

2018-11-30

End effector

Country Status (2)

Country

Link

US

( 2 )

US10864641B2

( en )

WO

( 1 )

WO2019108952A1

( en )

Families Citing this family (41)

* Cited by examiner, † Cited by third party

Publication number

Priority date

Publication date

Assignee

Title

CA3071944A1

( en )

*

2017-09-21

2019-03-28

AMP Robotics Corporation

Systems and methods for robotic suction grippers

US10864641B2

( en )

*

2017-12-01

2020-12-15

Bastian Solutions, Llc

End effector

US11235471B2

( en )

*

2018-05-22

2022-02-01

Uatc, Llc

Automated cleaning systems for autonomous vehicles

CN108638115A

( en )

*

2018-05-22

2018-10-12

苏州乔岳软件有限公司

A kind of flexibility clamping jaw

DE102018006991A1

( en )

*

2018-09-04

2020-03-05

KIMIYA GmbH

Multifunctional long-arm gripping mechanism

US11559900B2

( en )

*

2019-04-05

2023-01-24

Rmi

Systems, devices, components, and methods for a compact robotic gripper with palm-mounted sensing, grasping, and computing devices and components

CN110466765A

( en )

*

2019-08-29

2019-11-19

中国人民解放军国防科技大学

A kind of accurate control system of hovering

GB2584505B

( en )

*

2019-10-30

2022-11-16

Millitec Food Systems Ltd

A gripper and gripping assembly

KR102096365B1

( en )

*

2019-11-19

2020-04-03

(주)브이텍

Vacuum multi-sensing unit

CN111015706A

( en )

*

2019-12-23

2020-04-17

北京航空航天大学

Extensible member and gripper

GB2592410B

( en )

*

2020-02-27

2022-09-07

Dyson Technology Ltd

Robot hand

US12030266B2

( en )

*

2020-03-13

2024-07-09

The Boeing Company

Scrolls that vacuum secure objects to complex surfaces

DE102020207036A1

( en )

*

2020-06-04

2021-12-09

Kuka Deutschland Gmbh

Gripper with a gripper body

DE102020207035A1

( en )

*

2020-06-04

2021-12-09

Kuka Deutschland Gmbh

Gripper fingers and grippers with such gripper fingers

MX2022015416A

( en )

*

2020-06-05

2023-03-23

Paccar Inc

MACHINED TRAILER CONNECTOR.

EP3936871B1

( en )

*

2020-07-10

2026-04-01

F. Hoffmann-La Roche AG

Gripper for a laboratory container sorting device and method of operating a laboratory system

DE102021209655A1

( en )

*

2020-09-03

2022-03-03

Viralint Pte Ltd

Adaptable multifunctional robotic hands

US11846806B2

( en )

*

2020-09-09

2023-12-19

Ciena Corporation

Stress compensating pick-up tool

WO2022072853A1

( en )

*

2020-10-02

2022-04-07

Pickle Robot Company

Devices and methods for automated pick and place sortation

DE102020127017B3

( en )

2020-10-14

2022-01-20

Hohe Tanne Gmbh

Gripper unit for a gripper device

JP7713780B2

( en )

*

2021-02-03

2025-07-28

Thk株式会社

Hand Mechanism

JP7725246B2

( en )

*

2021-06-04

2025-08-19

株式会社東芝

Handling system, transport system, control device, program, and handling method

CN113635340A

( en )

*

2021-07-27

2021-11-12

北京工业大学

A pneumatic bionic three-finger manipulator with adaptive flexibility

CN115704417A

( en )

*

2021-08-06

2023-02-17

泰科电子(上海)有限公司

Vacuum adsorption system

US12257699B2

( en )

2021-08-27

2025-03-25

Nimble Robotics, Inc.

End effector for robotic picking and packing

US12162738B2

( en )

*

2021-10-28

2024-12-10

Toyota Research Institute, Inc.

Robots and sensor systems having compliant members

US12533820B2

( en )

2022-04-07

2026-01-27

Toyota Research Institute, Inc.

Gripping assembly and methods of use thereof

CN115122384B

( en )

*

2022-07-05

2025-02-11

北京工业大学

Picking device and picking arm mechanism

IT202200021810A1

( en )

*

2022-10-21

2024-04-21

Tod System S R L S

Mobile robot with gripping device

EP4372488A1

( en )

*

2022-11-17

2024-05-22

ETA SA Manufacture Horlogère Suisse

Gripper device for holding, centring and/or clamping a micromechanical or timepiece component, and associated attachment method

JP2026508948A

( en )

*

2023-03-13

2026-03-13

シャンハイ・フレクシブ・ロボティクス・テクノロジー・カンパニー・リミテッド

Adhesion device, end effector, and robot

CN116394290A

( en )

*

2023-03-31

2023-07-07

鹿见科技(深圳)有限公司

an underwater claw

CN116476124B

( en )

*

2023-04-11

2026-01-27

上海交通大学

Flexible mechanism based on bending beam structure

EP4695050A1

( en )

*

2023-04-14

2026-02-18

Brütsch Elektronik AG

Manipulating device

CN219827439U

( en )

*

2023-05-30

2023-10-13

深圳市铁头科技有限公司

Sucking disc pneumatic control system and photographic equipment

CN117140724B

( en )

*

2023-07-31

2025-12-12

陕西华山路桥集团有限公司

A steel mesh placement device for precast cover plates

CN117067251A

( en )

*

2023-09-07

2023-11-17

哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院)

A kind of super elastic alloy wire flexible manipulator

KR102904183B1

( en )

*

2023-10-20

2025-12-24

부산대학교 산학협력단

Multifunctional soft gripper device

JP7708524B1

( en )

*

2024-06-20

2025-07-15

タイガースポリマー株式会社

Gripper

US20260109055A1

( en )

*

2024-10-21

2026-04-23

Boston Dynamics AI Institute LLC

Flexible finger components

CN119839903B

( en )

*

2025-03-19

2025-05-27

广东工业大学

A flexible gripper imitating a fish fin structure

Citations (1)

* Cited by examiner, † Cited by third party

Publication number

Priority date

Publication date

Assignee

Title

US10864641B2

( en )

*

2017-12-01

2020-12-15

Bastian Solutions, Llc

End effector

Family Cites Families (30)

* Cited by examiner, † Cited by third party

Publication number

Priority date

Publication date

Assignee

Title

US5484091A

( en )

1994-01-12

1996-01-16

Mascotech Automotive Systems Group, Inc.

Vehicle cargo organizer

JPH08323676A

( en )

1995-05-30

1996-12-10

Kubota Corp

Robot hand

US6652213B1

( en )

2000-09-08

2003-11-25

California Natural Products

Automated warehousing system and method

US20050110292A1

( en )

*

2002-11-26

2005-05-26

Axcelis Technologies, Inc.

Ceramic end effector for micro circuit manufacturing

JP2006035397A

( en )

2004-07-29

2006-02-09

Fanuc Ltd

Conveyance robot system

JP5537416B2

( en )

*

2007-04-26

2014-07-02

アデプト テクノロジー， インコーポレイテッド

Vacuum gripping device

US7971916B2

( en )

*

2008-05-22

2011-07-05

GM Global Technology Operations LLC

Reconfigurable robotic end-effectors for material handling

KR101551997B1

( en )

2008-10-27

2015-09-09

디마틱 어카운팅 서비시즈 게엠베하

Transfer shuttle for automated warehouse

WO2011050112A2

( en )

*

2009-10-20

2011-04-28

Nexus Biosystems, Inc.

Gripper apparatus and method for containers of different sizes

US8403614B2

( en )

2010-03-24

2013-03-26

Bastian Solutions, Llc

Robotic automated storage and retrieval system mixed pallet build system

US20110290796A1

( en )

2010-05-28

2011-12-01

Rubbermaid, Incorporated

Portable Storage System

US8684418B2

( en )

*

2011-05-04

2014-04-01

GM Global Technology Operations LLC

Flexible dress package for an end-effector employed with a robotic arm

US8371631B2

( en )

*

2011-05-05

2013-02-12

GM Global Technology Operations LLC

Reconfigurable tool module for an end-effector employed with a robotic arm

JP2014076522A

( en )

*

2012-10-11

2014-05-01

Seiko Epson Corp

Robot hand and robot device

US9272421B2

( en )

*

2013-01-07

2016-03-01

Milos Misha Subotincic

Visually controlled end effector

US20140197652A1

( en )

*

2013-01-15

2014-07-17

Precision Machinery Research &amp; Development Center

End effector module

JP5966956B2

( en )

2013-02-05

2016-08-10

トヨタ自動車株式会社

Robot hand

US9122566B2

( en )

2013-03-08

2015-09-01

Bastian Solutions, Llc

Robotic material handling system

US9785911B2

( en )

2013-07-25

2017-10-10

I AM Robotics, LLC

System and method for piece-picking or put-away with a mobile manipulation robot

CA2923474C

( en )

2013-09-09

2022-06-21

Dematic Corp.

Autonomous mobile picking

US20150098775A1

( en )

2013-10-09

2015-04-09

Sergey N. Razumov

Automatic order picking system and method in retail facility

CN104816310A

( en )

2014-02-04

2015-08-05

精工爱普生株式会社

Robot hand, robot, manufacturing method for robot hand

US10974382B2

( en )

2014-06-09

2021-04-13

Soft Robotics Inc.

Soft robotic actuators utilizing asymmetric surfaces

WO2016049301A1

( en )

2014-09-26

2016-03-31

Teradyne, Inc.

Grasping gripper

US9850079B2

( en )

2015-01-23

2017-12-26

Symbotic, LLC

Storage and retrieval system transport vehicle

US9486927B1

( en )

*

2015-05-20

2016-11-08

Google Inc.

Robotic gripper with multiple pairs of gripping fingers

US9656394B2

( en )

*

2015-05-21

2017-05-23

GM Global Technology Operations LLC

Robotic system with reconfigurable end-effector assembly

US10137566B2

( en )

2015-09-09

2018-11-27

Bastian Solutions, Llc

Automated guided vehicle (AGV) with batch picking robotic arm

EP4046761B1

( en )

2016-01-08

2025-03-26

Berkshire Grey Operating Company, Inc.

Systems and methods for acquiring and moving objects

JP7097071B2

( en )

2016-01-20

2022-07-07

ソフト ロボティクス， インコーポレイテッド

Soft robot grippers for scattered gripping environments, high-acceleration movement, food manipulation, and automated storage and recovery systems

2018

2018-11-30

US

US16/205,367

patent/US10864641B2/en

not_active

Expired - Fee Related

2018-11-30

WO

PCT/US2018/063343

patent/WO2019108952A1/en

not_active

Ceased

2020

2020-11-17

US

US16/949,840

patent/US20210069916A1/en

not_active

Abandoned

Patent Citations (1)

* Cited by examiner, † Cited by third party

Publication number

Priority date

Publication date

Assignee

Title

US10864641B2

( en )

*

2017-12-01

2020-12-15

Bastian Solutions, Llc

End effector

Also Published As

Publication number

Publication date

US10864641B2

( en )

2020-12-15

WO2019108952A1

( en )

2019-06-06

US20190168396A1

( en )

2019-06-06

Similar Documents

Publication

Publication Date

Title

US10864641B2

( en )

2020-12-15

End effector

US10933536B2

( en )

2021-03-02

Sprung worm gripper for a robotic device

CN101804625B

( en )

2012-07-04

Robot apparatus and method of controlling the same, and computer program

US9662794B1

( en )

2017-05-30

Robotic finger and hand

US9827670B1

( en )

2017-11-28

Coaxial finger face and base encoding

JP7614068B2

( en )

2025-01-15

Apparatus, gripper apparatus and soft robot gripper system - Patents.com

EP3411197B1

( en )

2025-12-03

Robotic gripping device system and method

US10011019B1

( en )

2018-07-03

Wind-up gripper for a robotic device

US10322511B1

( en )

2019-06-18

Robotic finger shape recovery

Rader et al.

2016

Design of a high-performance humanoid dual arm system with inner shoulder joints

US20220296754A1

( en )

2022-09-22

Folding UV Array

JP2022159977A

( en )

2022-10-18

Gripper, soft robot gripper and device

CN120712159A

( en )

2025-09-26

Finger device of the robotic arm

Treratanakulwong et al.

2014

Low-friction tendon-driven robot hand with carpal tunnel mechanism in the palm by optimal 3D allocation of pulleys

KR101668386B1

( en )

2016-10-21

under-actuated robot finger device and method for controlling the same

Dhyan et al.

2023

Mitigate inertia for wrist and forearm towards safe interaction in 5-DoF cable-driven robot arm

Telegenov et al.

2015

Preliminary design of a three-finger underactuated adaptive end effector with a breakaway clutch mechanism

Chen et al.

2023

Development of a three-fingered multi-modality dexterous hand with integrated embedded high-dimensional sensors

Choi et al.

2020

Improved design for enhanced grip stability of the flexible gripper in harvesting robot

Nguyen et al.

2022

Towards flexible manipulation with wiring-base robot hand

Fujita et al.

2017

Development of shape-variable hand unit for quadruped tracked mobile robot

US20240091962A1

( en )

2024-03-21

Robotic Gripping Device for Grasping Handles and Objects

Polchankajorn et al.

2011

Development of a helical climbing modular snake robot

US20250103536A1

( en )

2025-03-27

Data transfer assemblies for robotic devices

Lee et al.

2018

Design and Analysis of Finger Kinematics of a Prosthetic Hand

Legal Events

Date

Code

Title

Description

2020-11-17

AS

Assignment

Owner name : BASTIAN SOLUTIONS, LLC, INDIANA

Free format text : ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:LEIDENFROST, HANS TOKPA;REEL/FRAME:054389/0707

Effective date : 20190218

2020-11-30

STPP

Information on status: patent application and granting procedure in general

Free format text : APPLICATION DISPATCHED FROM PREEXAM, NOT YET DOCKETED

2021-08-20

STPP

Information on status: patent application and granting procedure in general

Free format text : DOCKETED NEW CASE - READY FOR EXAMINATION

2023-03-01

STPP

Information on status: patent application and granting procedure in general

Free format text : NON FINAL ACTION MAILED

2023-09-06

STCB

Information on status: application discontinuation

Free format text : ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION

Related documents

• Generating augmented reality experiences utilizing physical objects to … — Meta Platforms Technologies, Llc (US20260037214A1)#653960
• Virtual reality system using multiple force arrays for a solver — DeepMotion, Inc. (US10657696B2)#653961
• Tracking position of device inside-out for virtual reality interactivity — Sony Interactive Entertainment America Llc (US10535153B2)#653962
• Augmented reality system with spatialized audio tied to user manipulated … — Magic Leap, Inc. (US11231770B2)#653963
• Big data-based autonomous flight drone system and autonomous flight method … — Rgblab Co., Ltd. (US20210390867A1)#653964