US 11,654,581 B2
Systems and methods for an articulated suction gripper assembly
Carter J. Schultz, Lafayette, CO (US); Brian J. Leach, Denver, CO (US); Alexander C. Kee, Denver, CO (US); Matanya B. Horowitz, Golden, CO (US); and Mark Baybutt, Superior, CO (US)
Assigned to AMP Robotics Corporation, Louisville, CO (US)
Filed by AMP Robotics Corporation, Louisville, CO (US)
Filed on Apr. 23, 2020, as Appl. No. 16/856,825.
Claims priority of provisional application 62/838,746, filed on Apr. 25, 2019.
Prior Publication US 2020/0338753 A1, Oct. 29, 2020
Int. Cl. B25J 15/06 (2006.01); B25J 15/04 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); B25J 19/00 (2006.01); F16C 29/02 (2006.01); G05B 15/02 (2006.01); B25J 18/02 (2006.01)
CPC B25J 15/0616 (2013.01) [B25J 9/003 (2013.01); B25J 9/1612 (2013.01); B25J 9/1697 (2013.01); B25J 15/04 (2013.01); B25J 15/0408 (2013.01); B25J 15/0658 (2013.01); B25J 15/0683 (2013.01); B25J 18/025 (2013.01); B25J 19/0058 (2013.01); F16C 29/02 (2013.01); G05B 15/02 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A robotic system, the robotic system comprising:
a robot comprising a robotic actuator and at least one robotic arm mechanically coupled to the robotic actuator;
a suction gripper mechanism that comprises:
a linear shaft element;
an internal airflow passage within the linear shaft element configured to communicate an airflow between an airflow application port at a first end of the linear shaft element and a gripping port positioned at an opposing second end of the linear shaft element;
a suction cup assembly comprising a suction cup element coupled to the gripping port; and
an actuator configured to rotate the linear shaft element in order to articulate an orientation of the suction cup assembly;
a reversible vacuum system coupled to the suction gripper mechanism;
a tool changer; and
robot control logic and electronics coupled to the robot, the actuator, and the reversible vacuum system,
wherein the robot control logic and electronics are configured to output one or more control signals to control the at least one robotic arm and the actuator, and to output one or more airflow control signals to the reversible vacuum system; and
wherein the robot control logic and electronics are configured to insert at least a portion of the suction gripper mechanism into the tool changer and engage the actuator to rotate the linear shaft element in order to replace the suction cup assembly.