US 12,257,699 B2
End effector for robotic picking and packing
Simon Kalouche, San Francisco, CA (US)
Assigned to Nimble Robotics, Inc., San Francisco, CA (US)
Filed by Nimble Robotics, Inc., San Francisco, CA (US)
Filed on Dec. 9, 2021, as Appl. No. 17/546,680.
Claims priority of provisional application 63/237,772, filed on Aug. 27, 2021.
Prior Publication US 2023/0067742 A1, Mar. 2, 2023
Int. Cl. B25J 15/10 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01)
CPC B25J 15/10 (2013.01) [B25J 15/0033 (2013.01); B25J 15/0666 (2013.01)] 20 Claims
OG exemplary drawing
 
17. A robot, comprising:
a robot arm; and
an end effector secured to the robot arm, the end effector comprising;
a body;
a suction cup movable relative to the body between a retracted position and an extended position;
a plurality of fingers spaced around the suction cup, each of the fingers being actuatable between an open condition and a clamped condition; and
a roller coupled to each one of the plurality of fingers and arranged to rotate about first and second axes.