| CPC B25J 15/0683 (2013.01) [B25J 19/0091 (2013.01); F16F 15/023 (2013.01); F16F 2222/12 (2013.01); F16F 2230/36 (2013.01); F16F 2232/08 (2013.01)] | 19 Claims |
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1. A robotic picking assembly comprising:
a robotic manipulator;
a vacuum suction system configured to provide negative air pressure; and
a picking assembly coupled to the robotic manipulator and the vacuum suction system, the picking assembly configured to pick up and release individual items, the picking assembly comprising:
a suction cup comprising:
a shell formed of an elastomeric material, wherein the shell forms a first bellow and a second bellow of the suction cup;
a flexible outer surface material disposed between the first bellow and the second bellow;
a flexible inner surface material that forms a vacuum flow passage along a central axis of the suction cup;
a first fluid chamber disposed between the flexible inner surface material and a first portion of the shell that forms the first bellow;
a first aperture formed in the first portion of the shell, wherein fluid from the first fluid chamber can pass through the first aperture;
a second fluid chamber disposed between the shell and the flexible outer surface material; and
a second aperture formed in the flexible outer surface material, wherein fluid from the second fluid chamber can pass through the second aperture;
wherein the flexible inner surface material and the flexible outer surface material are configured to deform while grasping an item.
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