公开(公告)号：US11267137B1

公开(公告)日：2022-03-08

申请号：US16694586

申请日：2019-11-25

Applicant: Amazon Technologies, Inc.

Inventor： Manikantan Nambi

IPC: B25J15/06 ,  B65G47/91 ,  B25J15/00 ,  B66C1/02 ,  B25B11/00

Abstract: Aspects described herein include an end effector that includes a pliable body member defining an inner recess and having a sealing surface at a distal end. The sealing surface forms a seal with items and defines a first suction area. The end effector also includes an inflatable bladder that expands into the inner recess. When the bladder is in an inflated state, the bladder defines a second suction area smaller than the first suction area. The end effector also includes a vacuum port in fluid communication with the inner recess.

公开(公告)号：US11642793B1

公开(公告)日：2023-05-09

申请号：US16899885

申请日：2020-06-12

Applicant: Amazon Technologies, Inc.

Inventor： Margaret Jean Williams George ,  Gregory Coleman ,  Manikantan Nambi ,  Timothy G. Dietz

IPC: B25J15/06

CPC classification number: B25J15/0616

Abstract: Aspects described herein include an end effector having an interface system that includes a body member attached to a mounting plate, and a plurality of strength-varying features at a plurality of regions of the interface system. The plurality of strength-varying features encourage the body member to repeatably deform into a deformed configuration. The end effector further comprises a vacuum port in fluid communication with an inner recess of the body member, and a plurality of actuators that apply a force to the mounting plate to pivot a portion of the mounting plate and deform the body member into the deformed configuration.

公开(公告)号：US12226895B1

公开(公告)日：2025-02-18

申请号：US17398838

申请日：2021-08-10

Applicant: Amazon Technologies, Inc.

Inventor： Manikantan Nambi ,  Chaitanya Mitash ,  Gregory Coleman ,  Timothy G. Dietz

IPC: B25J15/00 ,  B25J9/16 ,  B25J15/06 ,  B25J15/12

Abstract: Robotic end effectors may include a suction cup, one or more grasping fingers, and one or more flexible nails to securely and reliably engage, grasp, and cage items. The grasping fingers may move between open and closed positions to grasp items. In addition, the flexible nails may be coupled to ends of the grasping fingers to facilitate caging of items by the fingers and nails. For example, the flexible nails may bend, flex, or slide under, around, or relative to items and thereby enable grasping and caging of portions of items by the fingers and nails. The nails may be formed of various materials, with various layers or thicknesses of materials, and/or with variable flexibility or friction properties. Further, the nails may be transitioned or actuated between multiple configurations, including a sliding configuration and a grasping configuration.

公开(公告)号：US10953551B1

公开(公告)日：2021-03-23

申请号：US16201382

申请日：2018-11-27

Applicant: Amazon Technologies, Inc.

Inventor： Erica Aduh ,  Gregory Coleman ,  Andrew Marchese ,  Beth Marcus ,  Manikantan Nambi

IPC: B25J15/00 ,  B25J15/06 ,  B25J15/12

Abstract: A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.

公开(公告)号：US11938617B1

公开(公告)日：2024-03-26

申请号：US17145987

申请日：2021-01-11

Applicant: Amazon Technologies, Inc.

Inventor： Jude Jonas ,  Bertan Atamer ,  Gregory Thomas Merlino ,  Gregory Coleman ,  Robert Kevin Katzschmann ,  Erica Aduh ,  Manikantan Nambi ,  Beth A. Marcus ,  Kristin Covelle ,  Areej Pirzada

IPC: B25J15/06 ,  B65G47/91

CPC classification number: B25J15/0683 ,  B65G47/91

Abstract: Examples described herein are directed to methods, computer-readable media, and systems for controlling an end of arm tool with one or more suction zones to pick up an item. Sensor data regarding the item is obtained. The sensor data is used to determine which of the one or more suction zones should be used to pick up the item. A rotational orientation is also determined that orients the determined suction zone(s) with the item. The end of arm tool is then instructed to create a suction force at the one or more suction zones and to pick up the item using the suction force.

公开(公告)号：US11247347B2

公开(公告)日：2022-02-15

申请号：US16799600

申请日：2020-02-24

Applicant: Amazon Technologies, Inc.

Inventor： Parris S. Wellman ,  Beth A. Marcus ,  Gregory Coleman ,  Manikantan Nambi ,  Erica Aduh ,  Timothy G. Dietz ,  Leonard Thomas Lilliston, III ,  Margaret Jean Williams George ,  Jonas Eichenberger ,  Mathias Moser ,  Dominique Ernst ,  Ueli Schlaepfer

IPC: B25J15/00 ,  B25J15/06 ,  B25J9/16 ,  B25J9/12 ,  B25J9/00

Abstract: Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.

公开(公告)号：US10913165B1

公开(公告)日：2021-02-09

申请号：US16586568

申请日：2019-09-27

Applicant: Amazon Technologies, Inc.

Inventor： Jude Jonas ,  Bertan Atamer ,  Gregory Thomas Merlino ,  Gregory Coleman ,  Robert Kevin Katzschmann ,  Erica Aduh ,  Manikantan Nambi ,  Beth A. Marcus ,  Kristin Covelle ,  Areej Pirzada

IPC: B25J15/06 ,  B65G47/91

Abstract: Examples described herein are directed to an item manipulation system that includes an end of arm tool. The end of arm tool includes a suction manifold including multiple independently controllable asymmetrical suction zones. The end of arm tool is also configured to rotate about a tool axis to selectively align the independently controllable asymmetrical suction zones with target items for manipulation.