Using a suction gripper cluster device is disclosed, including: causing airflows to be generated by a plurality of airflow generators of a respective plurality of suction gripper mechanisms included in a suction gripper cluster device comprising a plurality of suction gripper mechanisms, wherein the plurality of airflow generators is configured to cause the airflows to enter respective intake ports of the plurality of suction gripper mechanisms and exit respective outlet ports of the respective plurality of suction gripper mechanisms in response to receiving air at a respective air input port of the respective plurality of suction gripper mechanisms; causing a target object to be captured by the suction gripper cluster device using the airflows; activating a positioning actuator mechanism to position the suction gripper cluster device; and causing the target object to be ejected from the suction gripper cluster device.

An end effector for a robotic arm. The end effector includes an angle compensator for attaching a suction cup, a vacuum control valve, a vacuum generator, a level compensator, and an extension tube which are sequentially connected along a central axis and in fluid communication, and a vacuum sensor connected to the vacuum control valve for measuring vacuum, a proximity sensor attached to the extension tube 121 for determining position of the level compensator. The vacuum is generated when compressed air passes the extension tube, the level compensator and the vacuum generator along the central axis. The level compensator provides compensation along the central axis.

A system is disclosed for providing high flow vacuum control to an end effector of an articulated arm. The system includes a high flow vacuum source that provides an opening with an area of high flow vacuum at the end effector such that objects may be engaged while permitting substantial flow of air through the opening, and a load detection system for characterizing the load presented by the object.

In one example embodiment, a robotic vacuum sorting system comprises: a suction gripper mechanism mounted to a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics. In response to an image signal from the imaging device, the robot control logic and electronics outputs robot control signals to control the sorting robot, and outputs one or more airflow control signals to the vacuum system to execute a capture action on a target object using the suction gripper. During the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object.

A waste sorting robot gripper comprises a suction cup engageable with the surface of a waste object. The suction cup has an air hole for evacuating air from the suction cup. A suction tube is coupled to the suction cup. The suction tube comprises a longitudinal axis. A first air inlet is in fluid communication with the air hole at one end of the suction tube and an air outlet at the other end of the suction tube. A path of the air flow between the air inlet and the air outlet is substantially along the longitudinal axis. The suction tube comprises a second air inlet in fluid communication with an air source, the second air inlet being between the first air inlet and the air outlet.

A support frame for a handling device comprising a base body and at least two structural elements extending away from the base body, at least two structural elements being constructed similarly to each other in that they have at east the following common characteristics: a radial beam which is elongated and has a first end and a second end, the second end having a connecting section for connection to a pneumatically actuatable gripping element, a lattice wing which is integrally connected with the radial beam and runs between the first end of the radial beam and the second end of the radial beam, the lattice wing extending flatly away from the radial beam, wherein for each of the at least two structural elements the first end of the radial beam is integrally connected with the base body in a manner that the radial beam extends away from the base body.

The invention relates to a handling device for handling objects, including a base unit which extends overall in an elongate manner along a base axis from a first end to a second end, wherein a flange portion is arranged at the first end for fastening the handling device to a robot arm and wherein a pivot unit having a pivot portion is arranged at the second end, wherein the pivot portion is mounted so as to be pivotable about a pivot axis by means of a pivot joint, wherein the base unit has a pneumatic cylinder which is designed to pivot the pivot portion about the pivot axis, and including a couplable or coupled, pneumatically operated end effector for gripping an object, wherein the base unit includes an integrated negative-pressure generator and is constructed as a structural unit with its own module housing, wherein the module housing is designed to extend in an elongate manner along the base axis and in particular surrounds the pneumatic cylinder and the negative-pressure generator.

In one example embodiment, a robotic vacuum sorting system comprises: a suction gripper mechanism mounted to a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics. In response to an image signal from the imaging device, the robot control logic and electronics outputs robot control signals to control the sorting robot, and outputs one or more airflow control signals to the vacuum system to execute a capture action on a target object using the suction gripper. During the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object.

Actuating an air conveyor device is disclosed, including: causing an airflow to be generated by an airflow generator of an air conveyor device, wherein the airflow generator is configured to cause the airflow to enter an intake port of the air conveyor device and exit from an outlet port of the air conveyor device in response to receiving air at an air input port of the air conveyor device; causing a target object to be captured by the air conveyor device using the airflow; activating a positioning actuator mechanism to position the air conveyor device; and causing the target object to be ejected from the air conveyor device.

In one example embodiment, a robotic vacuum sorting system comprises: a suction gripper mechanism mounted to a sorting robot; a vacuum system coupled to the suction gripper mechanism; robot control logic and electronics coupled to the sorting robot and the vacuum system; and an imaging device coupled to the robot control logic and electronics. In response to an image signal from the imaging device, the robot control logic and electronics outputs robot control signals to control the sorting robot, and outputs one or more airflow control signals to the vacuum system to execute a capture action on a target object using the suction gripper. During the capture action, the robot control logic and electronics outputs control signals such that the vacuum system pulls a vacuum at the gripping port of the suction gripper mechanism as the suction gripper mechanism is applied to capture and hold the target object.