US 11,926,061 B2
Logistic device
Manolo Garabini, Bolano (IT); Danilo Caporale, Milan (IT); Alessandro Settimi, Pisa (IT); Lucia Pallottino, Pisa (IT); Manuel Giuseppe Catalano, Pisa (IT); Giorgio Grioli, Pisa (IT); Vinicio Tincani, Lucca (IT); and Antonio Bicchi, Massa (IT)
Assigned to UNIVERSITA′ DI PISA, Pisa (IT)
Appl. No. 17/606,773
Filed by UNIVERSITA' DI PISA, Pisa (IT)
PCT Filed Apr. 29, 2020, PCT No. PCT/IB2020/054032
§ 371(c)(1), (2) Date Oct. 27, 2021,
PCT Pub. No. WO2020/222135, PCT Pub. Date Nov. 5, 2020.
Claims priority of application No. 102019000006474 (IT), filed on Apr. 30, 2019.
Prior Publication US 2022/0203542 A1, Jun. 30, 2022
Int. Cl. B25J 13/08 (2006.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B65G 47/90 (2006.01); B65G 61/00 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 5/007 (2013.01); B25J 9/0087 (2013.01); B25J 9/0093 (2013.01); B25J 13/08 (2013.01); B25J 13/085 (2013.01); B25J 15/0009 (2013.01); B25J 15/0014 (2013.01); B65G 47/907 (2013.01); B65G 61/00 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A logistic device for handling a package to be collected among items not to be collected; said package to be collected defining a contact surface with said items not to be collected; said logistic device comprising:
a first robotic arm comprising an adaptive gripper that adapts to said package to be collected and defining at least three degrees of freedom for said adaptive gripper, so as to modify the position and spatial orientation of said adaptive gripper;
a second robotic arm comprising an end effector defining at least one resting surface for said package to be collected and defining at least three degrees of freedom for said end effector, so as to modify the position and spatial orientation of said end effector;
a control unit designed to command
said first robotic arm to
bring said adaptive gripper into contact with said package to be collected,
deform said adaptive gripper according to the adhesion surface between said package to be collected and said adaptive gripper,
move said package to be collected from a storage position in which said contact surface is in contact with items not to be collected and a collection position in which said contact surface is not in contact with items not to be collected;
said second robotic arm to bring said resting surface of said end effector into contact with said contact surface; and then
at least said second robotic arm to move said package to be collected.