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公开(公告)号：US20240109203A1
公开(公告)日：2024-04-04
申请号：US18526248
申请日：2023-12-01
发明人： Kuan-Ting Yu , Shao-Yu Chen
IPC分类号： B25J15/04
CPC分类号： B25J15/0441 , B25J15/0491
摘要： End effector tool changers for a robotic system are disclosed. The end effector tool changer is physically compact, mechanically robust, has high radial strength, prevents undesirable rotations, uses minimal sensory input, is suitable for a wide variety of tools, and operates quickly. The end effector tool changer includes a robotic arm attachment portion, including a first magnetic part and a plurality of first engagement parts, and a tool attachment portion, including a second magnetic part and a plurality of second engagement parts, where the plurality of first engagement parts is configured to engage with the plurality of second engagement parts, each of the plurality of first engagement parts and each of the plurality of second engagement parts are selected from the group consisting of a pin and a pin groove, and the first magnetic part spatially and magnetically corresponds to the second magnetic part.
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公开(公告)号：US20220241962A1
公开(公告)日：2022-08-04
申请号：US17721770
申请日：2022-04-15
发明人： Thanh Nha Nguyen , Kuan-Ting Yu
摘要： End effector tool changers for a pick, sort, and place robotic system are disclosed. The end effector tool changer comprises an arm attachment portion, a plurality of engagement mechanisms, wherein each engagement mechanism comprises a first part and a second part, and wherein the first part and the second part of the engagement mechanism are selected from the group consisting of a pin and a pinhole; a robotic arm attachment portion, comprising a first plurality of magnets and a first plurality of first parts of the plurality of engagement mechanisms; and a tool attachment portion, comprising a second plurality of magnets and a second plurality of second parts of the plurality of engagement mechanisms. The end effector tool changer has greater mechanical stability, prevents accidental disconnection of the tool, and prevents unintentional rotation of the tool.
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3.发明申请公开(公告)号：US20200017317A1
公开(公告)日：2020-01-16
申请号：US16511408
申请日：2019-07-15
发明人： Jason Chua YAP , Kuan-Ting YU
摘要： The present disclosure generally relates to pick and place robotic systems. An exemplary compliant mechanism comprises: a motion device, wherein a distal surface of the motion device comprises a first plurality of magnetic components; an end effector, wherein the end effector comprises: a second plurality of magnetic components arranged on a proximal surface of the end effector in a same configuration as the first plurality of magnetic components, a rod, and an elongated member extending through a hole in the proximal surface of the end effector, wherein: a proximal end of the elongated member is affixed to the distal surface of the motion device, and the elongated member comprises an end stopper piece configured to prevent a distal end of the elongated member from passing through the hole in the proximal surface of the end effector.
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公开(公告)号：US20230356415A1
公开(公告)日：2023-11-09
申请号：US18348377
申请日：2023-07-07
发明人： Kuan-Ting Yu , Thanh Nha Nguyen
CPC分类号： B25J15/12 , B65G47/905
摘要： Soft picking tools for a pick and place robotic system are disclosed. A soft picking tool includes a body made of an integrated piece. The body includes stiff fingers located on a distal end of the body. The body also includes a portion of a soft-walled cavity configured to be deformed by application of a positive or negative pressure in the soft-walled cavity, leading to a motion of the stiff fingers, from a rest position, towards or away from a medial axis of the soft picking tool. The soft picking tool also includes one or more fingertips, where at least one of the stiff fingers includes a fingertip embedded on its distal end. The single-piece design and fingertips enable increased robustness, a reduced footprint, large gripping and spreading forces, and more efficient cluttered and flush grasping.
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公开(公告)号：US11498778B2
公开(公告)日：2022-11-15
申请号：US16511347
申请日：2019-07-15
发明人： Jason Chua Yap , Kuan-Ting Yu
摘要： Magnetic coupling mechanisms for robotic arm end effectors are disclosed. In particular, a magnetic coupling mechanism couples a detachable tool, such as a suction gripper, to a tool changer base of a robotic arm tool of an end effector. Magnetic coupling between the robotic arm tool and the detachable tool allows for breakaway when a sufficient force is applied to the robotic arm tool and/or the detachable tool to separate the two. The decoupling may be achieved via a tool rack. An exemplary system for coupling a detachable tool to a motion device includes a first magnetic ring affixed to a distal end of the motion device, where an inside of the first magnetic ring forms a first hollow chamber; and a second magnetic ring affixed to a proximal end of the detachable tool, where an inside of the detachable tool forms a second hollow chamber.
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6.发明申请公开(公告)号：US20200017316A1
公开(公告)日：2020-01-16
申请号：US16511415
申请日：2019-07-15
发明人： Elliott DONLON , Jason Chua YAP , Kuan-Ting YU , Ni-Ching LIN
IPC分类号： B65G47/91
摘要： The present disclosure generally relates to pick and place robotic systems. A compliance mechanism comprising: a motion device; an end effector coupled to the motion device, wherein the end effector comprises: a sheath structure; a rod, wherein the compliance mechanism is configured to: when the distal end of the rod is in not contact with an object, causing the distal end of the rod to move responsive to movement of the motion device, and when the distal end of the rod is in contact with an object and the motion device moves toward the object, causing the distal end of the rod to remain stationary by causing the sheath structure to move along a longitudinal direction of the rod.
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7.发明申请公开(公告)号：US20200017314A1
公开(公告)日：2020-01-16
申请号：US16511406
申请日：2019-07-15
发明人： Aidan Eric ROSE , Jason Chua YAP , Kuan-Ting YU , Jiaji ZHOU
IPC分类号： B65G47/90
摘要： The present disclosure generally relates to pick and place robotic systems. An exemplary system for orienting an object comprises: a scanner configured to detect a label on the object; an upper conveyor belt; a flipping conveyor belt located at an end of the upper conveyor belt, wherein the upper conveyor belt is configured to transport the object toward the flipping conveyor belt, wherein the flipping conveyor belt is configured to, in a first orientation or position, rotate and exert a frictional force on the object to reorient the object while the object is in contact with the upper conveyor belt, wherein the flipping conveyor belt is configured to, in a second orientation or position, allow the object to drop off the end of the upper conveyor belt.
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公开(公告)号：US11951612B2
公开(公告)日：2024-04-09
申请号：US18348377
申请日：2023-07-07
发明人： Kuan-Ting Yu , Thanh Nha Nguyen
CPC分类号： B25J15/12 , B65G47/905
摘要： Soft picking tools for a pick and place robotic system are disclosed. A soft picking tool includes a body made of an integrated piece. The body includes stiff fingers located on a distal end of the body. The body also includes a portion of a soft-walled cavity configured to be deformed by application of a positive or negative pressure in the soft-walled cavity, leading to a motion of the stiff fingers, from a rest position, towards or away from a medial axis of the soft picking tool. The soft picking tool also includes one or more fingertips, where at least one of the stiff fingers includes a fingertip embedded on its distal end. The single-piece design and fingertips enable increased robustness, a reduced footprint, large gripping and spreading forces, and more efficient cluttered and flush grasping.
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公开(公告)号：US10961061B2
公开(公告)日：2021-03-30
申请号：US16511406
申请日：2019-07-15
发明人： Aidan Eric Rose , Jason Chua Yap , Kuan-Ting Yu , Jiaji Zhou
摘要： The present disclosure generally relates to pick and place robotic systems. An exemplary system for orienting an object comprises: a scanner configured to detect a label on the object; an upper conveyor belt; a flipping conveyor belt located at an end of the upper conveyor belt, wherein the upper conveyor belt is configured to transport the object toward the flipping conveyor belt, wherein the flipping conveyor belt is configured to, in a first orientation or position, rotate and exert a frictional force on the object to reorient the object while the object is in contact with the upper conveyor belt, wherein the flipping conveyor belt is configured to, in a second orientation or position, allow the object to drop off the end of the upper conveyor belt.
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10.发明授权公开(公告)号：US11230441B2
公开(公告)日：2022-01-25
申请号：US16511415
申请日：2019-07-15
发明人： Elliott Donlon , Jason Chua Yap , Kuan-Ting Yu , Ni-Ching Lin
摘要： A compliance mechanism for a pick and place robotic system comprising: a motion device, an end effector coupled to the motion device, wherein the end effector comprises a sheath structure, a rod, wherein the compliance mechanism is configured to: when the distal end of the rod is in not contact with an object, causing the distal end of the rod to move responsive to movement of the motion device, and when the distal end of the rod is in contact with an object and the motion device moves toward the object, causing the distal end of the rod to remain stationary by causing the sheath structure to move along a longitudinal direction of the rod.
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