Robotic-Arm End Effector Configured To Engage A Plurality Of Storage Containers, And Method Of Using The Same
First Claim
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.
1 Assignment
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Accused Products
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.
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Citations
21 Claims
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1. An end effector for a robotic manipulator, the end effector comprising:
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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. - View Dependent Claims (2, 3, 9, 10, 11, 12)
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5. An end effector for a robotic manipulator, the end effector comprising:
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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. - View Dependent Claims (4, 6, 7)
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8. An end effector for a robotic manipulator, the end effector comprising:
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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. - View Dependent Claims (21)
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13. A method of operating a robotic manipulator, comprising:
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(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. - View Dependent Claims (14, 16, 17, 18, 19, 20)
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15. (canceled)
Specification