Robotic-arm end effector configured to engage a plurality of storage containers, and method of using the same

• US 10,639,800 B2
• Filed: 07/11/2018
• Issued: 05/05/2020
• Est. Priority Date: 07/11/2018
• Status: Active Grant

• Current Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Original Assignee: Amazon Technologies, Inc. (Amazon.com, Inc.)
• Inventors: Kamranzadeh, Vahideh, McIntosh, Todd, Motamarri, Seshachalamgupta, Wittrock, Tyson
• Primary Examiner(s): Vu, Stephen A
• Application Number:
  US16/032,875
• Publication Number:
  US 20200016770A1
• Time in Patent Office: 664 Days
• Field of Search: 294213
• CPC Class Codes: B25J 15/0014 having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
• CPC Class Codes: B25J 15/0052 multiple gripper units or multiple end effectors
• CPC Class Codes: B25J 9/0009 Constructional details, e.g. manipulator supports, bases
• CPC Class Codes: B25J 9/06 characterised by multi-articulated arms
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: B65D 21/0216 Containers with stacking ribs in the side walls
• CPC Class Codes: B65D 5/4208 Means facilitating suspending, lifting, handling, or the like of containers handles B65D5/46
• CPC Class Codes: B65G 1/127 the circuit being confined in a vertical plane
• CPC Class Codes: B65G 61/00 Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

In one embodiment, an end effector for a robotic manipulator has a base that is configured to attach to the end of a robotic arm, a first fork, and a second fork. The end first fork includes a first pair of prongs that extend from the base along a first direction and that are spaced from one another so as to receive a first storage container therebetween. The second fork includes a second pair of prongs that extend from the base along a second direction that is angularly offset from the first direction and that are spaced from one another so as to receive a second storage container therebetween. The first and second forks can be used to stack or unstack the first and second containers.

Claims

1. An end effector for a robotic manipulator, the end effector comprising:

a base that is configured to attach to an end of a robotic arm of the robotic manipulator;

a first fork that includes a first pair of prongs that extend from the base along a first direction and that are spaced from one another along a first perpendicular direction that is perpendicular to the first direction, the first pair of prongs configured to receive a first storage container therebetween; and

a second fork that includes a second pair of prongs that extend from the base along a second direction that is angularly offset from the first direction, and that are spaced from one another along a second perpendicular direction that is perpendicular to the second direction, the second pair of prongs configured to receive a second storage container therebetween,

wherein the first fork includes at least one protrusion that extends upwardly from at least one of the prongs of the first fork, the at least one protrusion configured to be received in at least one recess of an upper rim of the first storage container.

2. The end effector of claim 1, wherein the first fork is configured to receive a first storage container therebetween such that each prong of the first pair is adjacent to a respective sidewall of the storage container.

3. The end effector of claim 1, wherein the first fork is configured such that positions of the prongs of the first fork are fixed relative to one another as the first fork is coupled to the first storage container.

4. The end effector of claim 3, wherein the second fork is configured such that positions of the prongs of the second fork are fixed relative to one another as the second fork is coupled to the second storage container.

5. The end effector of claim 1, wherein the second direction is substantially perpendicular to the first direction.

6. The end effector of claim 1, wherein the first and second forks have positions that are fixed relative to one another and relative to the base.

7. A robotic manipulator comprising:

a robotic arm; and

the end effector of claim 1 attached to an end of the robotic arm.

8. An end effector for a robotic manipulator, the end effector comprising:

a base that is configured to attach to an end of a robotic arm of the robotic manipulator;

a first fork that includes a first pair of prongs that extend from the base along a first direction and that are spaced from one another along a first perpendicular direction that is perpendicular to the first direction, the first pair of prongs configured to receive a first storage container therebetween; and

a second fork that includes a second pair of prongs that extend from the base along a second direction that is angularly offset from the first direction, and that are spaced from one another along a second perpendicular direction that is perpendicular to the second direction, the second pair of prongs configured to receive a second storage container therebetween,

wherein the first fork includes a first clamp mechanism that is configured to clamp an upper rim of the first storage container between the first clamp mechanism and at least one of the prongs of the first fork.

9. The end effector of claim 8, wherein the first fork includes at least one protrusion that extends upwardly from at least one of the prongs of the first fork, the at least one protrusion configured to be received in at least one recess of an upper rim of the first storage container.

10. The end effector of claim 8, wherein the first fork includes a first clamp mechanism that includes a clamp and a clamp arm that is attached to the clamp, wherein the clamp is configured to move the clamp arm between a clamped position in which the clamp arm is spaced above the prongs of the first fork by a first distance, and a released position in which the clamp arm is spaced above the prongs of the first fork by a second distance that is greater than the first distance.

11. The end effector of claim 10, wherein the first clamp mechanism includes a catch that extends downward from the clamp arm between the prongs of the first fork, wherein the catch is configured to engage an inner surface of the storage container when the first clamp mechanism is in the clamped position.

12. An end effector for a robotic manipulator, the end effector comprising:

a base that is configured to attach to an end of a robotic arm of the robotic manipulator;

a first fork that includes a first pair of prongs that extend from the base along a first direction and that are spaced from one another along a first perpendicular direction that is perpendicular to the first direction, the first pair of prongs configured to receive a first storage container therebetween; and

a second fork that includes a second pair of prongs that extend from the base along a second direction that is angularly offset from the first direction, and that are spaced from one another along a second perpendicular direction that is perpendicular to the second direction, the second pair of prongs configured to receive a second storage container therebetween,

wherein the first fork includes a handle catch that extends upward between the prongs of the first fork, wherein the handle catch is configured to engage an inner surface of a handle of the first storage container when the first storage container is supported by the first fork.

13. The end effector of claim 12, wherein the first fork includes a first clamp mechanism that is configured to clamp an upper rim of the first storage container between the first clamp mechanism and at least one of the prongs of the first fork.

14. A method of operating a robotic manipulator, comprising:

(a) causing a robotic arm to move an end effector so as to align a first fork of the end effector with a first storage container;

(b) causing the robotic arm to move the first fork so as to couple the first fork to the first storage container;

(c) causing the robotic arm to move the end effector so as to align a second fork of the end effector with a second storage container; and

(d) causing the robotic arm to move the second fork so as to couple the second fork to the second storage container,

wherein step (b) comprises;

causing the robotic arm to translate a pair of prongs of the first fork along opposite sidewalls of the first storage container at a location below an upper end of the first storage container; and

causing the robotic arm to translate the first fork upwards along the first storage container such that the pair of prongs engage an upper rim of the first storage container.

15. The method of claim 14, wherein step (a) comprises at least one of:

causing robotic arm to move so as to vertically and horizontally align the first fork with the first storage container; and

causing the robotic arm to rotate the end effector so as to align prongs of the first fork with the first storage container.

16. The method of claim 14, wherein step (b) comprises causing at least one protrusion that extends upwardly from at least one of the prongs of the first fork to be received in at least one recess of the upper rim.

17. The method of claim 14, wherein step (b) comprises causing a clamping mechanism to move from a released position to the clamped position so as to clamp the upper rim of the first storage container between the clamping mechanism and at least one of the prongs of the first fork.

18. The method of claim 14, wherein the first storage container is stacked on the second storage container, and step (b) comprises causing the robotic arm to lift the first storage container so as to disengage the first storage container from the second storage container.

19. The method of claim 14, wherein step (d) comprises:

causing the robotic arm to translate a pair of prongs of the second fork along opposite sidewalls of the second storage container at a location below an upper end of the second storage container; and

causing the robotic arm to translate the second fork upwards along the second storage container such that the pair of prongs engage an upper rim of the second storage container.

20. The method of claim 14, wherein the method comprises:

causing the robotic arm to move a select one of the and first and second storage containers to a desired location;

decoupling the select one of the first and second storage containers from a corresponding one of the first and second forks;

causing the robotic manipulator to move the other one of the first and second storage containers to a position that is aligned vertically over the select one of the first and second storage containers;

causing the robotic manipulator to lower the other one of the first and second storage containers onto the select one of the first and second storage containers so as to stack the first and second storage containers; and

decoupling the other one of the first and second storage containers from a corresponding one of the first and second forks.