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. A method of engaging and moving a plurality of objects using an articulated arm, said method comprising:
engaging a first object of the plurality of objects with a primary end-effector of a primary acquisition system that includes the primary end-effector and an end-effector base at which the primary acquisition system is coupled to the articulated arm;
moving the first object toward a secondary retention system, the secondary retention system being coupled to the end-effector base;
releasing the first object from the primary acquisition system to the secondary retention system;
engaging a second object of the plurality of objects with the primary end-effector;
moving the second object toward the secondary retention system;
releasing the second object from the primary acquisition system to the secondary retention system;
moving the secondary retention system with the first object and the second object; and
releasing the first object and the second object from the secondary retention system.
2. The method of claim 1 , wherein the secondary retention system is pivotally mounted to the end-effector base such that the secondary retention system is pivotable with respect to the end-effector base.
3. The method of claim 1 , wherein the primary acquisition system includes an extensible portion that is extendable away from and retractable toward the end-effector base.
4. The method of claim 1 , wherein the primary end-effector of the primary acquisition system includes a vacuum cup coupled to a vacuum source.
5. The method of claim 1 , wherein the method further includes moving the secondary retention system toward the first object, and moving the secondary retention system toward the second object.
6. The method of claim 1 , wherein the secondary retention system includes a floor and at least one wall.
7. The method of claim 6 , wherein the releasing the first object and the second object from the secondary retention system includes actuating the floor to open with respect to the at least one wall.
8. A method of engaging and moving a plurality of objects using an articulated arm, said method comprising:
engaging a first object of the plurality of objects with a primary end-effector of a primary acquisition system that includes the primary end-effector and an end-effector base at which the primary acquisition system is coupled to the articulated arm;
moving a secondary retention system toward the first object, the secondary retention system being coupled to the end-effector base;
releasing the first object from the primary acquisition system to the secondary retention system;
engaging a second object of the plurality of objects with the primary end-effector;
moving the secondary retention system toward the second object;
releasing the second object from the primary acquisition system to the secondary retention system;
moving the secondary retention system with the first object and the second object; and
releasing the first object and the second object from the secondary retention system.
9. The method of claim 8 , wherein the secondary retention system is pivotally mounted to the end-effector base such that the secondary retention system is pivotable with respect to the end-effector base.
10. The method of claim 8 , wherein the primary acquisition system includes an extensible portion that is extendable away from and retractable toward the end-effector base.
11. The method of claim 8 , wherein the primary end-effector of the primary acquisition system includes a vacuum cup coupled to a vacuum source.
12. The method of claim 8 , wherein the method further includes moving the first object toward the secondary retention system, and moving the second object toward the secondary retention system.
13. The method of claim 8 , wherein the secondary retention system includes a floor and at least one wall.
14. The method of claim 13 , wherein releasing the first object and the second object from the secondary retention system includes actuating the floor to open with respect to the at least one wall.
15. An object processing system comprising:
a primary acquisition system including an end-effector for engaging a first object of a plurality of objects, and an end-effector base at which the primary acquisition system is coupled to a programmable motion device; and
a secondary retention system coupled to the end-effector base, the secondary retention system receiving and retaining the first object from the primary acquisition system as well as to receive a second object engaged by the end-effector of the primary acquisition system prior to discharging the first object from the secondary retention system such that the first object and the second object are concurrently retained by secondary retention system wherein the secondary retention system is pivotally mounted to the end-effector base such that the secondary retention system is pivotable with respect to the end-effector base.
16. The system of claim 15 , wherein the primary acquisition system includes an extensible portion that is extendable away from and retractable toward the end-effector base.
17. The system of claim 15 , wherein the end-effector of the primary acquisition system includes a vacuum cup coupled to a vacuum source.
18. The system of claim 15 , wherein at least one of the end-effector and the secondary retention system is movable toward each other.
19. The system of claim 15 , wherein the secondary retention system includes a floor and at least one wall.
20. The system of claim 15 , wherein the floor is actuatable to open with respect to the at least one wall.
21. The system of claim 19 , wherein the floor and the at least one wall form a cup.