End effector for a robotic arm

• US 9,616,580 B2
• Filed: 03/15/2013
• Issued: 04/11/2017
• Est. Priority Date: 05/14/2012
• Status: Active Grant

• Current Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Original Assignee: SARCOS LC (Sarcos Technology & Robotics Corp.)
• Inventors: Colvin, Jr., Glenn, Smith, Fraser M., Morrison, Michael, Scroggin, Wayco
• Primary Examiner(s): McCullough, Michael
• Assistant Examiner(s): TIGHE, BRENDAN P
• Application Number:
  US13/841,006
• Publication Number:
  US 20130302129A1
• Time in Patent Office: 1,488 Days
• Field of Search: 414680, 414729, 414730, 414732, 414736, 414738, 414739, 4147531, 700259, 901 9, 901 31, 901 39, 901 47
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 15/0066 with different types of end effectors, e.g. gripper and welding gun B25J15/0057 and B25J15/0061 take precedence
• CPC Class Codes: B25J 15/0475 Exchangeable fingers
• CPC Class Codes: B25J 15/10 with three or more finger members B25J15/0009 takes precedence
• CPC Class Codes: Y10S 901/30 End effector
• CPC Class Codes: Y10S 901/39 Jaw structure

Abstract

An end effector for a robotic arm is disclosed. The end effector includes a grasping apparatus having a gripping member and an appendage extending from the gripping member forming a channel between the griping member and the appendage. The channel is configured to receive at least a portion of an article, such as a latch for a container, to be manipulated by the end effector.

Claims

1. An end effector for a robotic arm, comprising:

a grasping apparatus having a gripping member and a first wall; and

an appendage extending from the gripping member and having a second wall opposing the first wall, the first and second walls forming an elongated channel between the griping member and the appendage, wherein the appendage extends beyond a midpoint between a closed end of the elongated channel and an end of the gripping member, and wherein the elongated channel captures an article between the first and second walls, wherein the article is gripped solely by the end effector.

2. The end effector of claim 1, further comprising at least one of a sensor and a light source.

3. The end effector of claim 2, wherein the at least one of a sensor and a light source is associated with the appendage to assist positioning of the elongated channel when receiving the article to be manipulated.

4. The end effector of claim 1, wherein the first and second walls are angled to form a tapered elongated channel.

5. The end effector of claim 1, wherein the first and second walls are parallel to each other.

6. The end effector of claim 1, wherein the appendage is removably attachable to the gripping member.

7. The end effector of claim 1, wherein the elongated channel is configured to receive a storage container latch.

8. The end effector of claim 1, wherein the grasping apparatus comprises at least one of a sensor and a light source.

9. The end effector of claim 1, wherein the grasping apparatus comprises a second gripping member that is rotatable to a position that minimizes interference during use of the appendage.

10. The end effector of claim 1, wherein the grasping apparatus comprises a second gripping member having a second appendage.

11. The end effector of claim 1, wherein the appendage further comprises one or more cut-outs formed in one or more sides of the appendage.

12. The end effector of claim 1, wherein the appendage is positioned about a surface opposite a grasping surface of the gripping member.

13. The end effector of claim 1, wherein the appendage extends a distance beyond an end of the gripping member.

14. The end effector of claim 1, wherein the channel further comprises a friction enhancing feature.