End of arm tools having belt-driven engagement members
Systems and methods for end of arm tools having belt-driven engagement members and related item manipulation devices are provided. In one embodiment, an example item manipulation device may include a housing, a suction cup assembly having a first suction cup, where the suction cup assembly is positioned at a distal end of the housing, a first engagement member having a first arm portion configured to rotate with respect to the housing, a first belt coupled to the first arm portion, and a first actuator configured to actuate the first belt to cause the first arm portion to rotate with respect to the housing.
1 . A system comprising:
a robotic manipulator; and
an item manipulation device coupled to the robotic manipulator, the item manipulation device comprising:
a housing;
a suction cup assembly comprising a first suction cup, wherein the suction cup assembly is positioned at a distal end of the housing;
a first engagement member comprising a first arm portion configured to rotate with respect to the housing;
a first belt coupled to the first arm portion;
a second engagement member comprising a second arm portion configured to rotate with respect to the housing, wherein the first engagement member is positioned at a different vertical position along the housing than the second engagement member; and
a first actuator configured to actuate the first belt to cause the first arm portion to rotate with respect to the housing.
2 . The system of claim 1 , wherein the first engagement member further comprises:
a second arm portion configured to rotate with respect to the first arm portion;
a second belt coupled to the first arm portion and the second arm portion, wherein rotation of the second belt causes the second arm portion to rotate with respect to the first arm portion;
a third arm portion configured to rotate with respect to the second arm portion, wherein the third arm portion is coupled to the second arm portion via a one-way bearing; and
a third belt coupled to the second arm portion and the third arm portion, wherein rotation of the third belt causes the third arm portion to rotate with respect to the second arm portion.
3 . The system of claim 2 , wherein the item manipulation device further comprises:
a second actuator configured to actuate the second belt; and
a third actuator configured to actuate the third belt;
wherein the first actuator, the second actuator, and the third actuator are disposed at an upper end of the housing.
4 . The system of claim 1 , wherein the first engagement member further comprises:
an external belt disposed along an outer surface of the first engagement member, the external belt coupled to both the first engagement member and the second engagement member.
5 . An item manipulation device comprising:
a housing;
a suction cup assembly comprising a first suction cup, wherein the suction cup assembly is positioned at a distal end of the housing;
a first engagement member comprising a first arm portion configured to rotate with respect to the housing;
a second engagement member comprising a second arm portion configured to rotate with respect to the housing, wherein the first engagement member is positioned at a different vertical position along the housing than the second engagement member;
a first belt coupled to the first arm portion; and
a first actuator configured to actuate the first belt to cause the first arm portion to rotate with respect to the housing.
6 . The item manipulation device of claim 5 , wherein the first engagement member further comprises:
a second arm portion configured to rotate with respect to the first arm portion; and
a second belt coupled to the first arm portion and the second arm portion, wherein rotation of the second belt causes the second arm portion to rotate with respect to the first arm portion.
7 . The item manipulation device of claim 6 , wherein the first engagement member further comprises:
a third arm portion configured to rotate with respect to the second arm portion; and
a third belt coupled to the second arm portion and the third arm portion, wherein rotation of the third belt causes the third arm portion to rotate with respect to the second arm portion.
8 . The item manipulation device of claim 7 , further comprising:
a second actuator configured to actuate the second belt; and
a third actuator configured to actuate the third belt.
9 . The item manipulation device of claim 8 , wherein the third arm portion is coupled to the second arm portion via a one-way bearing, wherein the first actuator is disposed at a proximal end of the housing, and wherein the second actuator and the third actuator are disposed adjacent to the second arm portion and the third arm portion, respectively.
10 . The item manipulation device of claim 7 , wherein the first arm portion and the second arm portion are substantially axially aligned, and the third arm portion is disposed at an acute angle relative to the second arm portion when the first engagement member is in a stored position.
11 . The item manipulation device of claim 5 , further comprising:
wherein the first engagement member is disposed at a first side of the housing, and the second engagement member is disposed at a second side of the housing.
12 . The item manipulation device of claim 11 , wherein the first engagement member further comprises:
an external belt disposed along an outer surface of the first engagement member, the external belt coupled to both the first engagement member and the second engagement member.
13 . The item manipulation device of claim 5 , wherein the suction cup assembly further comprises a second suction cup.
14 . The item manipulation device of claim 5 , wherein the first engagement member is devoid of a suction cup.
15 . An end of arm tool for an item manipulation device, the end of arm tool comprising:
a housing;
a suction cup assembly comprising a first suction cup, wherein the suction cup assembly is positioned at a distal end of the housing;
a first engagement member comprising a first arm portion configured to rotate with respect to the housing;
a first belt coupled to the first arm portion;
a second engagement member comprising a second arm portion configured to rotate with respect to the housing, wherein the first engagement member is positioned at a different vertical position along the housing than the second engagement member; and
a first actuator configured to actuate the first belt to cause the first arm portion to rotate with respect to the housing.
16 . The end of arm tool of claim 15 , wherein the first engagement member further comprises:
a second arm portion configured to rotate with respect to the first arm portion; and
a second belt coupled to the first arm portion and the second arm portion, wherein rotation of the second belt causes the second arm portion to rotate with respect to the first arm portion.
17 . The end of arm tool of claim 16 , wherein the first engagement member further comprises:
a third arm portion configured to rotate with respect to the second arm portion; and
a third belt coupled to the second arm portion and the third arm portion, wherein rotation of the third belt causes the third arm portion to rotate with respect to the second arm portion, and wherein the third arm portion is coupled to the second arm portion via a one-way bearing.
18 . The end of arm tool of claim 17 , wherein the first arm portion and the second arm portion are substantially axially aligned, and the third arm portion is disposed at an acute angle relative to the second arm portion when the first engagement member is in a stored position.
19 . The end of arm tool of claim 15 , wherein the first engagement member further comprises:
an external belt disposed along an outer surface of the first engagement member, the external belt coupled to both the first engagement member and the second engagement member.