US 12,466,063 B2
Robotic system with gripping mechanisms, and related systems and methods
Hironori Mizoguchi, Tokyo (JP)
Assigned to MUJIN, Inc., Tokyo (JP)
Filed by MUJIN, Inc., Tokyo (JP)
Filed on Mar. 1, 2023, as Appl. No. 18/177,040.
Claims priority of provisional application 63/315,947, filed on Mar. 2, 2022.
Prior Publication US 2023/0278208 A1, Sep. 7, 2023
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01)
CPC B25J 9/1661 (2013.01) [B25J 9/1653 (2013.01); B25J 9/1666 (2013.01); B25J 13/082 (2013.01); B25J 15/0028 (2013.01); B25J 15/0616 (2013.01)] 18 Claims
OG exemplary drawing
 
1. An end-of-arm tool, comprising:
a housing;
a vacuum-gripping component operably coupled to a lower surface of the housing for engaging an upper surface of a target object, wherein the vacuum-gripping component includes:
a first vacuum element operably coupled to a first side of the lower surface; and
a second vacuum element coupled to a second side of the lower surface and spaced apart from the first vacuum element with a channel therebetween; and
a clamping component, including:
a first clamping element positioned at least partially beneath the lower surface of the housing and movable along a lateral axis to engage a first side surface of the target object; and
a second clamping element positioned at least partially beneath the lower surface of the housing and movable along the lateral axis to engage with a second side surface of the target object, wherein the first clamping element and the second clamping element are:
configured to provide compressing forces on opposing first side surface and second side surfaces of the target object, and
operably coupled to the housing through the channel between the first vacuum element and the second vacuum element.