公开(公告)号：US09205558B1

公开(公告)日：2015-12-08

申请号：US14333288

申请日：2014-07-16

Applicant: Google Inc.

Inventor： John Zevenbergen ,  Ethan Rublee

IPC: B25J15/06 ,  B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1633 ,  B25J9/1687 ,  B25J15/0052 ,  B25J15/0616 ,  B25J15/0625 ,  G05B2219/40006 ,  G05B2219/45056 ,  Y10S901/09 ,  Y10S901/40 ,  Y10S901/46

Abstract: Example embodiments may provide for control of a suction gripper with multiple suction cups. One example system includes a suction gripper and a control system. The suction gripper may include a vacuum pump, a plurality of suction cups coupled to the vacuum pump, and a plurality of sensors corresponding to the suction cups, where a sensor is positioned between the vacuum pump and a suction cup and measures a vacuum pressure of the suction cup. The control system may be configured to activate the vacuum pump to cause the suction gripper to apply suction to an object through one or more active suction cups, receive sensor data indicative of the vacuum pressure of the one or more active suction cups from the corresponding sensors, identify at least one suction cup to deactivate from the one or more active suction cups, and deactivate the at least one identified suction cup.

Abstract translation: 示例性实施例可以提供具有多个吸盘的抽吸夹具的控制。 一个示例系统包括抽吸夹持器和控制系统。 抽吸夹具可以包括真空泵，耦合到真空泵的多个吸盘以及对应于吸盘的多个传感器，其中传感器位于真空泵和吸盘之间，并且测量真空泵的真空压力 吸杯。 控制系统可以被配置为激活真空泵以使吸力夹具通过一个或多个主动吸盘向吸收物体施加吸力，从相应的传感器接收表示一个或多个主动吸盘的真空压力的传感器数据 识别至少一个吸盘以从一个或多个主动吸盘去激活，并且使至少一个识别的吸盘停用。

公开(公告)号：US09457970B1

公开(公告)日：2016-10-04

申请号：US14792534

申请日：2015-07-06

Applicant: Google Inc.

Inventor： John Zevenbergen ,  Stefan Nusser ,  Troy Straszheim

IPC: B65G67/02 ,  B60P1/48 ,  B62D63/08 ,  B65G47/90 ,  B60P1/38 ,  B60P1/64 ,  B65G15/22 ,  B65G47/52 ,  B25J5/00

CPC classification number: B65G67/02 ,  B25J5/007 ,  B25J9/0093 ,  B60P1/38 ,  B60P1/48 ,  B60P1/6409 ,  B62D63/08 ,  B65G15/22 ,  B65G47/52 ,  B65G47/905 ,  B65G61/00 ,  B65G2203/041

Abstract: An example system includes a plurality of trailers arranged such that a given trailer of the plurality is connected to at least one other trailer of the plurality, where the plurality of trailers includes a plurality of respective conveyance systems to transport objects between connected trailers. The system further includes a control system configured to cause a conveyance system of a first trailer of the plurality to move at least one object to the first trailer from a first external trailer, cause respective conveyance systems of one or more trailers of the plurality to transport the at least one object from the first trailer of the plurality to a second trailer of the plurality that is connected to a second external trailer, and cause a conveyance system of the second trailer of the plurality to move the at least one object to the second external trailer.

Abstract translation: 示例系统包括多个拖车，其布置成使得多个的给定拖车连接到多个的至少另一个拖车，其中多个拖车包括多个相应的输送系统以在连接的拖车之间输送物体。 该系统还包括控制系统，该控制系统被配置为使得多个第一拖车的输送系统从第一外部拖车将至少一个物体移动到第一拖车，使得多个拖车中的一个或多个拖车的相应输送系统运输 所述至少一个物体从所述多个的第一拖车到所述多个的第二拖车连接到第二外部拖车，并且使得所述多个的第二拖车的输送系统将所述至少一个物体移动到所述第二拖车的第二拖车 外部拖车

公开(公告)号：US09457477B1

公开(公告)日：2016-10-04

申请号：US14584070

申请日：2014-12-29

Applicant: Google Inc.

Inventor： Ethan Rublee ,  John Zevenbergen ,  Kurt Konolige

IPC: B25J15/06 ,  B25J11/00 ,  B25J9/16

CPC classification number: B25J15/0616 ,  B25J9/16 ,  B25J11/00 ,  B25J15/0023 ,  B25J15/06 ,  Y10S901/02 ,  Y10S901/40

Abstract: An example suction gripper is disclosed that includes a contacting pillow including a plurality of particles inside a non-rigid membrane that allow the contacting pillow to conform to a shape of an object when the contacting pillow is pressed against the object, a plurality of suction cups arranged on the non-rigid membrane of the contacting pillow, and a vacuum system coupled to the contacting pillow and to the plurality of suction cups. The vacuum system may be configured to apply suction to the object through at least one of the plurality of suction cups that is in contact with the object when the contacting pillow is pressed against the object and increase stiffness of the contacting pillow by removing air between the plurality of particles inside the non-rigid membrane of the contacting pillow.

Abstract translation: 公开了一种示例性吸嘴，其包括在非刚性膜内包括多个颗粒的接触枕头，当接触枕头被压靠在物体上时，允许接触枕头符合物体的形状;多个吸盘 布置在接触枕头的非刚性膜上，以及耦合到接触枕头和多个吸盘的真空系统。 真空系统可以被配置成当接触枕头被压靠在物体上时通过与物体接触的多个吸盘中的至少一个来吸收物体，并通过除去接触枕头之间的空气来增加接触枕头的刚度 接触枕头的非刚性膜内的多个颗粒。