公开(公告)号：US12070850B1

公开(公告)日：2024-08-27

申请号：US16587652

申请日：2019-09-30

Applicant: Amazon Technologies, Inc.

Inventor： Gregory Coleman ,  Timothy G Dietz ,  Leonard Thomas Lilliston, III ,  Beth A Marcus

IPC: B25J15/06 ,  B25J9/12

CPC classification number: B25J15/0616 ,  B25J9/123

Abstract: A vacuum-gripper end effector conforms to and grasps items upon application of vacuum force and/or actuation of one or more actuators. The vacuum-gripper assembly can be round in top view or can be rectangular. At least three linear actuators deform the vacuum-gripper assembly. Four linear actuators may be spaced equidistantly apart on a square or rectangular vacuum-gripper assembly to enhance functionality of the vacuum-gripper, such as being capable of simultaneously engaging three sides formed at a corner of a box. A one-way actuation type air cylinder may be used. A low friction air cylinder may be returned to its retracted position by the resilience of the vacuum-gripper assembly.