US 12,226,907 B2
Robotic systems with mass detection, and related systems and methods
Hironori Mizoguchi, Tokyo (JP); and Yoshiki Kanemoto, Tokyo (JP)
Assigned to Mujin, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Jan. 11, 2022, as Appl. No. 17/573,447.
Claims priority of provisional application 63/171,086, filed on Apr. 6, 2021.
Prior Publication US 2022/0314440 A1, Oct. 6, 2022
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1674 (2013.01); B25J 9/1692 (2013.01); B25J 13/085 (2013.01); B25J 15/0616 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An end effector for use with a robotic system, the end effector comprising:
a first mounting structure having a first end couplable to a robotic arm of the robotic system and a second end spaced apart from the first end in a longitudinal plane;
a force sensor coupled to the second end of the first mounting structure beneath the longitudinal plane and positioned to measure forces in a vertical direction at least partially orthogonal to the longitudinal plane;
a second mounting structure coupled to the second end of the first mounting structure beneath the force sensor;
a gripper assembly coupled to the second mounting structure and having a plurality of gripping components operably coupleable to a plurality of connection tubes to receive a biasing force and configured to use the biasing force to grab one or more target objects;
a first bracket coupled to the first mounting structure and having one or more first tube-mounting components; and
a second bracket coupled to the second mounting structure and having one or more second tube-mounting components, wherein each of the one or more first tube-mounting components are aligned with a corresponding second tube-mounting component in a longitudinal direction parallel to the longitudinal plane and configured to hold the plurality of connection tubes in the longitudinal direction between the first bracket and the second bracket.