US 12,115,655 B2
Robotic tray gripper
Alberto Leyva Arvayo, Palo Alto, CA (US); Cyril Nader, Palo Alto, CA (US); Varun Uday Nayak, Fremont, CA (US); Andrew Lovett, Burlingame, CA (US); and Shitij Kumar, Redwood City, CA (US)
Assigned to Dexterity, Inc., Redwood City, CA (US)
Filed by Dexterity, Inc., Redwood City, CA (US)
Filed on Jun. 14, 2023, as Appl. No. 18/210,001.
Application 18/210,001 is a continuation of application No. 17/712,915, filed on Apr. 4, 2022, granted, now 11,731,287.
Claims priority of provisional application 63/175,784, filed on Apr. 16, 2021.
Prior Publication US 2023/0321841 A1, Oct. 12, 2023
Int. Cl. B25J 15/00 (2006.01)
CPC B25J 15/0028 (2013.01) 20 Claims
OG exemplary drawing
 
1. An end effector, comprising:
a lateral member configured to be attached to a robotic arm at a central portion of the lateral member via an attachment point;
a passive side member fixedly mounted to the lateral member at a first distal end and configured to engage mechanically with a first recess on a first side of an object to be grasped;
and an active side member hinged to the lateral member at a second distal end opposite the first distal end and configured to engage mechanically with a second recess on a second side of the object to be grasped, the second side being opposite the first side of the object to be grasped,
wherein:
the passive side member comprises a passive-side structure that is configured to be inserted into the first recess on the first side of the object to be grasped;
the active side member comprises an active-side structure that is configured to be inserted into the second recess on the second side of the object to be grasped;
a first profile of the passive-side structure is different from a second profile of the active-side structure; and
the lateral member includes an actuator to cause the active side member to be moved mechanically into a position where a first angle between the active side member and the lateral member is different than a second angle between the passive side member and the lateral member.