Systems and methods for acquiring and moving objects
An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.
1. An end effector for use in a robotic articulated arm, said end effector comprising:
an acquisition portion that includes a shaft and a vacuum cup at a distal end thereof;
a retention portion that includes three actuatable paddles uniformly spaced apart and pivotally coupled to a base, wherein the shaft of the acquisition portion is retractable relative to the base surrounded by the three actuatable paddles,
wherein the shaft of the acquisition portion is extended relative to the base for moving the vacuum cup away from the three actuatable paddles into contact with an object along a first direction and retracted relative to the base for moving the object towards the three actuatable paddles of the retention portion along a second direction that is opposite the first direction, and wherein the vacuum cup applies a vacuum to grasp the object, and
wherein the three actuatable paddles of the retention portion pivot inward and at least partially under the object in mutually non-opposing directions to assist the vacuum cup in grasping the object.
2. The end effector as claimed in claim 1 , wherein the shaft includes a conduit of air at a vacuum pressure.
3. The end effector as claimed in claim 1 , wherein the shaft includes a conduit of air at a positive pressure that is provided to a Venturi opening at or near the vacuum cup.
4. The end effector as claimed in claim 1 , wherein the vacuum cup of the acquisition portion is a flexible vacuum cup.
5. The end effector as claimed in claim 4 , wherein the flexible vacuum cup includes a bellows.
6. The end effector as claimed in claim 1 , wherein the object is releasable from the acquisition portion to the retention portion once the object is grasped by the retention portion.
7. The end effector as claimed in claim 1 , wherein a non-engaged portion of the object is allowed to hang below a portion of the object that is pinched between the three actuatable paddles of retention portion.
8. The end effector as claimed in claim 1 , wherein the three actuatable paddles pivot inward along directions that are about 120 degrees radially separated.
9. The end effector as claimed in claim 1 , wherein the three actuatable paddles are angled inward to press into the object.
10. The end effector as claimed in claim 9 , wherein the three actuatable paddles include tip portions that press into the object.
11. The end effector as claimed in claim 10 , wherein the tip portions engage at least a portion of the object that is between a first surface of the object that is grasped by the vacuum cup, and a second surface of the object that is opposite the first surface of the object.
12. The end effector as claimed in claim 10 , wherein the tip portions engage a second surface of the object that is opposite a first surface of the object that is grasped by the vacuum cup.
13. The end effector as claimed in claim 1 , wherein the mutually non-opposing directions are radially spaced from one another.
14. An end effector for use in a robotic articulated arm, said end effector comprising:
an acquisition portion that includes a shaft and a vacuum cup at a distal end thereof;
a retention portion that includes three actuatable paddles uniformly spaced apart and pivotally coupled to a base, wherein the shaft of the acquisition portion is retractable relative to the base surrounded by the three actuatable paddles,
wherein the shaft of the acquisition portion is extended relative to the base for moving the vacuum cup away from the three actuatable paddles into contact with an object along a first direction and retracted relative to the base for moving the object towards the three actuatable paddles of the retention portion along a second direction that is opposite the first direction, and wherein the vacuum cup applies a vacuum to grasp the object; and
wherein the three actuatable paddles of the retention portion pivot inward in mutually non-opposing directions to compressingly engage the object such that a shape of the object changes.
15. The end effector as claimed in claim 14 , wherein the shaft includes a conduit of air at a vacuum pressure.
16. The end effector as claimed in claim 14 , wherein the shaft includes a conduit of air at a positive pressure that is provided to a Venturi opening at or near the vacuum cup.
17. The end effector as claimed in claim 14 , wherein the vacuum cup of the acquisition portion includes a flexible vacuum cup.
18. The end effector as claimed in claim 17 , wherein the flexible vacuum cup includes a bellows.
19. The end effector as claimed in claim 14 , wherein the object is releasable from the acquisition portion to the retention portion once the object is grasped by the retention portion.
20. The end effector as claimed in claim 14 , wherein a portion of the object is allowed to hang below the three actuatable paddles of the retention portion.
21. The end effector as claimed in claim 14 , wherein the three actuatable paddles pivot inward along directions that are about 120 degrees radially separated.
22. An end effector for use in a robotic articulated arm, said end effector comprising:
an acquisition portion that includes a shaft and a vacuum cup at a distal end thereof;
a retention portion that includes three actuatable paddles uniformly spaced apart and pivotally coupled to a base, wherein the shaft of the acquisition portion is retractable relative to the base surrounded by the three actuatable paddles,
wherein the shaft of the acquisition portion is extended relative to the base for moving the vacuum cup away from the three actuatable paddles into contact with an object along a first direction and retracted relative to the base for moving the object towards the three actuatable paddles of the retention portion along a second direction that is opposite the first direction; and
wherein the three actuatable paddles of the retention portion pivot inward in mutually non-opposing directions into the object and beyond a position at which the three actuatable paddles initially contact the object.
23. The end effector as claimed in claim 22 , wherein the shaft includes a conduit of air at a vacuum pressure.
24. The end effector as claimed in claim 22 , wherein the shaft includes a conduit of air at a positive pressure that is provided to a Venturi opening at or near the vacuum cup.
25. The end effector as claimed in claim 22 , wherein the vacuum cup of the acquisition cup includes a flexible vacuum cup.
26. The end effector as claimed in claim 25 , wherein the flexible vacuum cup includes a bellows.
27. The end effector as claimed in claim 22 , wherein the object is releasable from the acquisition portion to the retention portion once the object is engaged by the retention portion.
28. The end effector as claimed in claim 22 , wherein a non-engaged portion of the object is allowed to hang below a portion of the object that is pinched between the three actuatable paddles of the retention portion.
29. The end effector as claimed in claim 22 , wherein the three actuatable paddles pivot inward along directions that are about 120 degrees radially separated.