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公开(公告)号：US10800045B1
公开(公告)日：2020-10-13
申请号：US15799805
申请日：2017-10-31
Applicant: Amazon Technologies, Inc.
Inventor： Jude Royston Jonas , Ennio Claretti , Justin Thomas Juranovits , Andrew D. Marchese
Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
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公开(公告)号：US20190126493A1
公开(公告)日：2019-05-02
申请号：US15799741
申请日：2017-10-31
Applicant: Amazon Technologies, Inc.
Inventor： Jude Royston Jonas , Ennio Claretti , Justin Thomas Juranovits , Andrew D. Marchese
Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
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公开(公告)号：US20180257241A1
公开(公告)日：2018-09-13
申请号：US15452956
申请日：2017-03-08
Applicant: Amazon Technologies, Inc.
Inventor： Ennio Claretti , Andrew D. Marchese , Ying Xu
CPC classification number: B25J15/0023 , B25J15/00 , B25J15/0028 , B25J15/02 , B25J15/0616
Abstract: A system, apparatus, and method is configured to retrieve items and particularly items that are stored in high-density storage solutions. The system can include one or two-piece manipulators with retractable grippers. The manipulators can be relatively low profile and/or low friction to facilitate their placement between a target item and adjacent items on densely packed shelves or trays. In a retracted position, the grippers can be stowed beneath the surface of the manipulators to further facilitate the placement of the manipulators. In a deployed position, the grippers can extend above the surface of the manipulators to increase the contact area, coefficient of friction, and/or surface pressure of the manipulators on the target item. The grippers can enable the manipulators to be thinner than would otherwise be possible to enable retrieval of items from tightly packed storage solutions—e.g., warehouses with higher gross cubic utilization (GCU).
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公开(公告)号：US09694494B1
公开(公告)日：2017-07-04
申请号：US14966912
申请日：2015-12-11
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
CPC classification number: B25J9/1612 , G05B2219/39476 , G05B2219/40386 , Y10S901/32 , Y10S901/46
Abstract: A grasp management system and corresponding methods are described. In some examples, information about a grasp by which an end of arm tool of a robotic manipulator successfully grasped an item is accessed. The grasp may be associated with contact points on the item. Other contact points may be simulated based on the contact points in order to define a set of grasping surfaces that include at least a portion of the other contact points. Information about the grasping surfaces may be accessed to determine a primitive shape that represents a feature of the item. The primitive shape may be used determine other features on the item or other features on other items that may also be graspable by the end of arm tool or other end of arm tools.
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公开(公告)号：US11654582B2
公开(公告)日：2023-05-23
申请号：US17013079
申请日：2020-09-04
Applicant: Amazon Technologies, Inc.
Inventor： Andrew D. Marchese , William Clay Flannigan , Parris S. Wellman
CPC classification number: B25J15/0616 , B25J9/0009 , B25J9/02 , B25J9/1605 , B25J9/1612 , B25J9/1661 , B25J9/1669 , B25J9/1697 , B25J15/0019 , G05B2219/39484 , G05B2219/39514
Abstract: Techniques for controlling a robotic picking arm using estimated seal quality metrics. A plurality of candidate contact points for holding an item using a suction device of the robotic picking arm, based on captured images of the item and an n-dimensional surface model of the item. An expected seal quality metric for a first one of the candidate contact points, by processing the n-dimensional surface model of the item and physical properties of the suction device of the robotic picking arm. Based on the expected seal quality metric, embodiments can determine whether to retrieve the item from the storage container by holding the item at the first candidate contact point using the suction device of the robotic picking arm.
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Patent Agency Ranking
公开(公告)号：US10702994B1
公开(公告)日：2020-07-07
申请号：US15799774
申请日：2017-10-31
Applicant: Amazon Technologies, Inc.
Inventor： Jude Royston Jonas , Ennio Claretti , Justin Thomas Juranovits , Andrew D. Marchese
Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
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公开(公告)号：US10576625B1
公开(公告)日：2020-03-03
申请号：US15973385
申请日：2018-05-07
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
IPC: B25J9/16
Abstract: A grasp management system and corresponding methods are described. In some examples, information about a set of grasps of a robotic manipulator is accessed. The information is used by the robotic manipulator to attempt to grasp an item using the set of grasps associated with a first grasping orientation. An orientation of the robotic manipulator can be adjusted into a second grasping orientation and the robotic manipulator can attempt to grasp the item using the set of grasps associated with the second grasping orientation. Information about the attempts can be recorded and used to determine a richness measure that may represent a richness of the set of grasps for the item.
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公开(公告)号：US10293492B1
公开(公告)日：2019-05-21
申请号：US15799774
申请日：2017-10-31
Applicant: Amazon Technologies, Inc.
Inventor： Jude Royston Jonas , Ennio Claretti , Justin Thomas Juranovits , Andrew D. Marchese
CPC classification number: B25J15/028 , B25J9/1694 , B25J15/0616
Abstract: Finger assemblies at the end of a robotic arm end effector includes talon that are retractable. Retraction may be accomplished by a vertical or horizontal barrel cam, a paddle and spin assembly, and/or a resilient plate.
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公开(公告)号：US20180170676A1
公开(公告)日：2018-06-21
申请号：US15387408
申请日：2016-12-21
Applicant: Amazon Technologies, Inc.
Inventor： Ennio Claretti , Andrew D. Marchese , Andrew Stubbs , Ying Xu
CPC classification number: B23P19/007 , B25J9/0093 , B25J9/10 , B25J15/0009 , B25J15/0028 , B25J15/0052 , B25J15/0206 , B25J15/08 , B25J19/0075 , B65B69/00 , B65G1/0464 , B65G1/1378
Abstract: An example system includes a moveable arm, a pick tool connected to the arm, and a controller. The pick tool includes a first finger, a second finger disposed opposite the first finger, a first handler disposed at a first end of the first finger, and a second handler disposed at a first end of the second finger. Rotation of the first and second handlers while first and second forces are applied to an item by the first and second handlers, respectively, causes movement of the item.
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公开(公告)号：US09669543B1
公开(公告)日：2017-06-06
申请号：US14966958
申请日：2015-12-11
Applicant: Amazon Technologies, Inc.
Inventor： Andrew Stubbs , Andrew D. Marchese , John Gregory Longtine , Sarath Krishnaswamy , Moses Theodore Ort , Russell Charles Toris , Jacob Taylor Wachlin
CPC classification number: B25J9/1612 , G05B2219/39476 , G05B2219/40386 , Y10S901/32 , Y10S901/46
Abstract: A grasp management system and corresponding method are described. In some examples, it is determined whether an end of arm tool of a robotic manipulator is capable of grasping an item in a first orientation and a second orientation. Information regarding success of the attempts may be retained in a database. A richness measure for each of the first orientation and the second orientation may be determined based upon a spatial variation of successful attempted grasps in the respective orientation.
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