US 12,403,591 B2
Gripping system for an autonomous guided vehicle
Lars Hjorth Hansen, Tommerup (DK); and Mikkel Steen Pedersen, Silkeborg (DK)
Assigned to MOBILE INDUSTRIAL ROBOTS A/S, Odense SOE (DK)
Appl. No. 17/927,213
Filed by MOBILE INDUSTRIAL ROBOTS A/S, Odense SOE (DK)
PCT Filed Jun. 1, 2021, PCT No. PCT/EP2021/064668
§ 371(c)(1), (2) Date Nov. 22, 2022,
PCT Pub. No. WO2021/249827, PCT Pub. Date Dec. 16, 2021.
Claims priority of application No. 20178999 (EP), filed on Jun. 9, 2020.
Prior Publication US 2023/0202032 A1, Jun. 29, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 9/00 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01); B25J 15/02 (2006.01); B25J 18/00 (2006.01)
CPC B25J 9/162 (2013.01) [B25J 9/0009 (2013.01); B25J 9/1669 (2013.01); B25J 11/008 (2013.01); B25J 13/081 (2013.01); B25J 13/086 (2013.01); B25J 15/0206 (2013.01); B25J 15/0253 (2013.01); B25J 18/007 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A gripping system for a vehicle, the gripping system comprising:
a base for attachment to the vehicle;
an arm for manipulating an end effector;
the end effector for gripping a cart to be towed or to be pushed by the vehicle, the end effector being attached to the arm by a pivoting connection configured to enable a roll motion of the end effector relative to the arm and to limit a yaw motion of the end effector relative to the arm, and
the end effector comprising a first sensor arm and a second sensor arm, the first sensor arm for contacting the cart, the end effector being configured to move in response to the first sensor arm contacting the cart until the second sensor arm contacts the cart;
wherein the arm comprises a first end and a second end, the first end being pivotally attached to the base to enable yaw motion of the arm relative to the vehicle, and the second end being connected to the end effector; and
an actuator configured to adjust a height of the end effector.