公开(公告)号：WO2022016085A1

公开(公告)日：2022-01-20

申请号：PCT/US2021/042028

申请日：2021-07-16

Applicant: GREYORANGE PTE. LTD. ,  SCHAFFERT, Shawn

Inventor： TIWARY, Sumit Kumar ,  LIVIANU, Mathew ,  NARKAR, Sameer ,  PATIL, Akash Madhukar ,  NICHOL, Jamie ,  ECHEVERRIA, Daniel ,  HOFMANN, Andreas

IPC: B25J9/00 ,  B25J9/16 ,  B25J15/00 ,  B65G57/112 ,  B65G60/00 ,  B65G61/00 ,  B25J15/0014 ,  B25J15/0066 ,  B25J15/0616 ,  B25J9/1612 ,  B25J9/1661 ,  B25J9/1697 ,  B65H2553/42 ,  B65H3/047 ,  B65H3/0833 ,  B65H3/42

Abstract: A robotic manipulator for handling an object is provided. The robotic manipulator includes a first robotic arm and a first end effector coupled to the first robotic arm. A movement of the first robotic arm orients the first end effector with respect to the object. The robotic manipulator includes a housing, a first conveyor operably coupled to the housing, a second conveyor operably coupled to the housing at an angle with respect to the first conveyor, and a first actuation mechanism. The first and second conveyors are arranged to form a top surface and the bottom surface respectively of a spatula-shaped base. The first actuation mechanism operates the first and second conveyors in one of a first direction and a second direction to manipulate the object. The operation of the first conveyor is independent of the operation of the second conveyor.

公开(公告)号：WO2021171095A1

公开(公告)日：2021-09-02

申请号：PCT/IB2021/000124

申请日：2021-02-26

Applicant: GREYORANGE PTE. LTD.

Inventor： PITHA, Robert ,  KIRULUTA, Andrew ,  LEWIS, Andrew ,  SCHAFFERT, Shawn ,  KUMAR, Avilash ,  NARKAR, Sameer ,  HOFMANN, Andreas ,  SOROUT, Nikhil ,  TOLIA, Vaibhav ,  LIVIANU, Mathew ,  ECHEVERRIA, Daniel ,  SHEKHAWAT, Anirudh ,  TIWARY, Sumit ,  SONI, Manish ,  PATIL, Akash

IPC: B65G47/90 ,  B65G61/00 ,  B25J9/16 ,  B25J15/00 ,  B25J9/00 ,  G06T1/00

Abstract: A control server controls a dual-arm robotic manipulator (DARM) for handling deformable objects in a stack. The control server receives a set of images of the stack captured by a set of image sensors, and determines a contour of the stack based the set of images. Based on the contour and historical data associated with the deformable objects m the stack, the control server determines a sequence of actions to be performed by the DARM for handling a first deformable object in the stack, and controls the DARM to handle the first deformable object by communicating a set of commands corresponding to each action in sequence of actions. The first deformable object is handled such that original form factors of the first deformable object and the remaining stack are maintained.

公开(公告)号：WO2022067084A1

公开(公告)日：2022-03-31

申请号：PCT/US2021/052029

申请日：2021-09-24

Applicant: GREY ORANGE PTE. LTD. ,  PATIL, Akash Madhukar ,  HOFMANN, Andreas ,  ECHEVERRIA, Daniel ,  SONI, Manish ,  LIVIANU, Mathew ,  NARKAR, Sameer ,  SCHAFFERT, Shawn ,  TIWARY, Sumit Kumar

Inventor： PATIL, Akash Madhukar ,  HOFMANN, Andreas ,  ECHEVERRIA, Daniel ,  SONI, Manish ,  LIVIANU, Mathew ,  NARKAR, Sameer ,  SCHAFFERT, Shawn ,  TIWARY, Sumit Kumar

IPC: B65G61/00

Abstract: A hybrid gripper that is used as end effector of a robotic manipulator for handling objects that are arranged in top, middle, and bottom shelves of a storage unit. The hybrid gripper may include first and second end effectors, where the first end effector is pivotally coupled to the second end effector. The first end effector includes a first longitudinal support member and an axle member that telescopically moves in and out of the first longitudinal support member. The axle member is attached to a gripper assembly that houses first and second suction cups to grip and pick the objects. The second end effector includes a second longitudinal support member and a spatula that is rotatably attached to the second longitudinal support member. Here, the spatula and the first longitudinal support member move relative to the second longitudinal support member.