US 12,472,642 B2
Adjustable end-of-arm tool or fixture
David H. Morton, Boulder, CO (US); and Cengiz Kizilkan, Ingolstadt (DE)
Assigned to Magswitch Automation Company, Superior, CO (US)
Appl. No. 18/568,736
Filed by Magswitch Technology, Inc., Superior, CO (US)
PCT Filed Jun. 11, 2022, PCT No. PCT/US2022/033154
§ 371(c)(1), (2) Date Dec. 8, 2023,
PCT Pub. No. WO2022/261520, PCT Pub. Date Dec. 15, 2022.
Claims priority of provisional application 63/209,878, filed on Jun. 11, 2021.
Prior Publication US 2024/0269861 A1, Aug. 15, 2024
Int. Cl. B25J 15/00 (2006.01); B25J 9/16 (2006.01); B25J 15/06 (2006.01)
CPC B25J 15/0004 (2013.01) [B25J 9/1612 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 15/0052 (2013.01); B25J 15/0608 (2013.01)] 60 Claims
OG exemplary drawing
 
1. An adjustable end-of-arm tool for a robot for moving an object, comprising:
a base adapted to be coupled to the robot and positionable by the robot;
a first adjustable assembly coupled to the base, comprising:
a first plurality of links;
a first plurality of couplers coupling the plurality of links and the base, the first plurality of couplers providing at least two degrees of the freedom; and
a first tool coupled to the base through the first plurality of links and the first plurality of couplers, the first tool including a first interface which is positionable relative to the base in multiple positions based on the first plurality of links and the first plurality of couplers; and
a second adjustable assembly coupled to the base, comprising:
a second plurality of links;
a second plurality of couplers coupling the plurality of links and the base, the first plurality of couplers providing at least two degrees of the freedom; and
a second tool coupled to base through the second plurality of links and the second plurality of couplers, the second tool including a second interface which is positionable relative to the base in multiple positions based on the second plurality of links and the second plurality of couplers;
wherein the second adjustable assembly is coupled to the base independent of the first adjustable assembly; and
a controller operably coupled to at least one sensor configured to detect the object and each of the first adjustable assembly and the second adjustable assembly, the controller operable to dynamically adjust the first adjustable assembly and the second adjustable assembly based upon at least one output of the at least one sensor to position the first adjustable assembly and the second adjustable assembly to grip the object.