ABSTRACT
Abstract
A robotic gripper includes a first modular component comprising a set of deformable members, such as a set of vacuum cups or foam members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members.
Description
BACKGROUND
A robot is generally defined as a reprogrammable and multifunctional manipulator designed to move material, parts, tools, and/or specialized devices (e.g., via variable programmed motions) for performing tasks. Robots may include manipulators that are physically anchored (e.g., industrial robotic arms), mobile devices that move throughout an environment (e.g., using legs, wheels, or traction-based mechanisms), or some combination of one or more manipulators and one or more mobile devices. Robots are currently used in a variety of industries, including, for example, manufacturing, warehouse logistics, transportation, hazardous environments, exploration, and healthcare.
SUMMARY
Robots may be configured to grasp objects (e.g., boxes or other parcels) and move them from one location to another using, for example, a robotic arm with an end effector (e.g., a vacuum-based gripper). For instance, the robotic arm may be positioned such that one or more deformable members (e.g., vacuum cups, such as rubber suction cups, or foam members) of the gripper are in contact with, or are near, a face of an object to be grasped. A vacuum system (e.g., on board the robot) may then be activated to use suction to adhere the object to the gripper and/or deactivated to release the object.
Robotic grippers that use vacuum are typically highly integrated devices. As a result, servicing robotic grippers and/or creating varying gripper configurations (e.g., different arrays of vacuum cups, which may differ in position, size, shape, and/or material) can be cumbersome. The inventors have recognized and appreciated that robotic gripper architectures can be improved by segregating certain structures used to support different functions into separate modules that are easier to replace and/or repair independently.
A robotic vacuum gripper may include a rigid outer structure, a center hub and/or wrist connection (e.g., to pass electrical signals, power and/or vacuum), a vacuum distribution plenum, vacuum valves, electronic components, air distribution channels, and a set of deformable members (e.g., vacuum cups) for contacting objects. In some embodiments, a vacuum gripper can be enhanced by measuring vacuum pressure in the plenum and/or in each vacuum cup (or vacuum cup zone, corresponding to one or more vacuum cups) so that vacuum cups that do not have a good seal against the object being lifted can be selectively turned off, thereby saving vacuum power and/or maximizing the grip strength of the vacuum cups with adequate seals.
In some embodiments, a robotic vacuum gripper includes an integrated configuration of vacuum valves. Previously, vacuum valves have been co-located with the cups they control (and/or the pressure sensors associated therewith). In some embodiments, the vacuum valves can be built directly into a modular component (e.g., a valve manifold). In some embodiments, the modular component comprises a monolithic component (or multiple monolithic components) that holds the valves (e.g., packed tightly together in space) and/or is serviceable independently of other parts of the system. The modular component can interface to the center hub (and/or wrist connection), which can pass vacuum to the modular component (e.g., from a vacuum source).
In some embodiments, one or more pressure sensors (e.g., included in one or more circuit boards) are also included in the modular component. For instance, each pressure sensor can be positioned relative to (e.g., above) a respective opening that is connected to a corresponding vacuum valve. Each pressure sensor can measure a vacuum pressure downstream from the respective valve. In addition, an opposite side of the modular component can have a separate set of openings leading out from the same valves. In some embodiments, another modular component (e.g., a separate distribution manifold) can interface to the modular component (e.g., directly or indirectly). In some embodiments, the other modular component can channel the output of each vacuum valve to a corresponding deformable member, such as a vacuum cup or a foam member.
By adopting a modular approach, the arrangement of deformable members can be made independent of the arrangement of vacuum valves. As a result, a different array of deformable members can be utilized by simply changing out one modular component for another, without affecting the valves or the overall structure of the gripper. In addition, the platform of the array of deformable members can be enlarged, shrunk, reshaped and/or rearranged to better fit the type of object being lifted. In practice, this capability can be advantageous because it is often unclear what arrangement of deformable members will best suit a particular type of load before a real-world attempt is made (let alone a range of loads that the same gripper might be tasked with lifting). It can also be unpredictable when different parts of the gripper might fail during operation. By adopting a modular approach, failures can be isolated to specific modular components, which can be replaced and/or repaired individually, minimizing down time and/or compartmentalizing failure risk.
In one aspect, the invention features a robotic gripper. The robotic gripper includes a first modular component comprising a set of deformable members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. In some embodiments, the set of deformable members comprises a set of vacuum cups. In some embodiments, the set of deformable members comprises a set of foam members.
In some embodiments, the first modular component comprises a set of channels. In some embodiments, each channel in the set of channels defines, at least in part, a fluid connection between at least one vacuum valve in the set of vacuum valves and at least one deformable member in the set of deformable members. In some embodiments, each channel in the set of channels is defined, at least in part, by a monolithic member having a first surface, a second surface opposite the first surface, and a set of bores. In some embodiments, each deformable member in the set of deformable members is mounted to confine a mounting member. In some embodiments, the mounting member contacts the monolithic member at a bottom surface of the monolithic member.
In some embodiments, the robotic gripper comprises a connector configured to pass vacuum from a vacuum source. In some embodiments, the connector defines, at least in part, a fluid connection directly to the second modular component. In some embodiments, the connector defines, at least in part, a fluid connection to a recessed region of the first modular component. In some embodiments, the recessed region of the first modular component is fluidly connected to the second modular component. In some embodiments, the connector is configured to pass at least one of electrical signals or electrical power to one or more components of the robotic gripper.
In some embodiments, the robotic gripper comprises a controller configured to individually control an amount of vacuum supplied by each vacuum valve in the set of vacuum valves. In some embodiments, each vacuum valve in the set of vacuum valves is configured to actuate to adjust an amount of vacuum in the vacuum valve. In some embodiments, the robotic gripper comprises a set of control valves. In some embodiments, each control valve is fluidly connected to, and/or configured to actuate, a respective vacuum valve in the set of vacuum valves to adjust an amount of vacuum in the vacuum valve.
In some embodiments, the robotic gripper comprises a set of pressure sensors. In some embodiments, each pressure sensor in the set of pressure sensors is configured to sense a pressure associated with (i) a respective vacuum valve in the set of vacuum valves, and/or (ii) a respective vacuum zone or deformable member. In some embodiments, each pressure sensor in the set of pressure sensors is electrically connected to a common circuit board. In some embodiments, each pressure sensor in the set of pressure sensors is mounted above a respective vacuum valve in the set of vacuum valves.
In some embodiments, the second modular component includes a structural member configured to hold each vacuum valve in the set of vacuum valves. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to one corresponding deformable member in the set of deformable members. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to at least two corresponding deformable members in the set of deformable members. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to at least three corresponding deformable members in the set of deformable members.
In some embodiments, the robotic gripper comprises at least two groups of deformable members. In some embodiments, deformable members in the first group of deformable members differ from deformable members in the second group of deformable members in at least one of size, shape, or material.
In some embodiments, the invention includes a robot. The robot includes a mobile base. The robot also includes a robotic arm coupled to the mobile base. The robot also includes a robotic gripper (e.g., as set forth above). In some embodiments, the robotic gripper is coupled to a distal end of the robotic arm.
In another aspect, the invention features a method of using a robotic gripper. The method includes providing vacuum to a robotic gripper. The robotic gripper comprises a first modular component comprising a set of deformable members. The robotic gripper comprises a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. The method also comprises routing vacuum through the set of vacuum valves to the set of deformable members.
In some embodiments, the method comprises lifting an object using the robotic gripper by establishing a vacuum seal between the object and at least one deformable member in the set of deformable members, and controlling a robotic arm coupled to the robotic gripper to lift the object while the vacuum seal is established.
In some embodiments, the method comprises individually controlling each vacuum valve in the set of vacuum valves. In some embodiments, routing vacuum through the set of vacuum valves to the set of deformable members comprises routing vacuum from a vacuum source to the set of vacuum valves via a connector of the robotic gripper; and/or routing vacuum from the set of vacuum valves to the set of deformable members via a set of channels defined, at least in part by the first modular component.
In some embodiments, the method comprises applying a vacuum pulse to each vacuum valve in the set of vacuum valves. In some embodiments, the method comprises determining, for each of the vacuum valves, while the vacuum pulse is applied to the vacuum valve and using one or more pressure sensors, a pressure measurement for the vacuum valve. In some embodiments, the method comprises selectively activating one or more of the vacuum valves based, at least in part, on the determined pressure measurements for the vacuum valves.
In some embodiments, the method comprises determining a trajectory for the robotic gripper based at least in part on the determined pressure measurements for the vacuum valves. In some embodiments, the pressure measurement comprises a rate of change of a pressure signal measured by the one or more pressure sensors and/or a peak pressure value of a pressure signal measured by the one or more pressure sensors. In some embodiments, the pressure measurement comprises a time-variant pressure signal measured by the one or more pressure sensors.
In another aspect, the invention features a method of servicing a robotic gripper. The method includes providing a robotic gripper. The robotic gripper comprises a first modular component comprising a set of deformable members. The robotic gripper also comprises a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. The method also includes removing one of the first modular component or the second modular component from the robotic gripper for individual service.
In some embodiments, the flexibility afforded by the modular approach allows for the simultaneous use of different types of deformable members, e.g., those that have different diameters, heights, or number of bellows. As such, âhybridâ grippers can be constructed (e.g., grippers that have different regions optimized for picking different types of objects). As an example, a periphery of a gripper planform can utilize large and/or stiff deformable members to increase a moment-carrying capacity of the gripper, and a central region can utilize smaller and/or softer deformable members to better conform to uneven load surfaces. In some embodiments, a distribution manifold is placed to the side of the valve manifold(s) (rather than underneath), so as to create a thin (e.g., spatula-like) gripper that can fit into tight spaces (e.g., underneath warehouse racks or inside shipping containers). In some embodiments, a distribution manifold is segmented into discrete planforms.
BRIEF DESCRIPTION OF DRAWINGS
The advantages of the invention, together with further advantages, may be better understood by referring to the following description taken in conjunction with the accompanying drawings. The drawings are not necessarily to scale, and emphasis is instead generally placed upon illustrating the principles of the invention.
FIGS. 1 A and 1 B are perspective views of a robot, according to an illustrative embodiment of the invention.
FIG. 2 A depicts robots performing different tasks within a warehouse environment, according to an illustrative embodiment of the invention.
FIG. 2 B depicts a robot unloading boxes from a truck and placing them on a conveyor belt, according to an illustrative embodiment of the invention.
FIG. 2 C depicts a robot performing an order building task in which the robot places boxes onto a pallet, according to an illustrative embodiment of the invention.
FIG. 3 is a perspective view of a robot, according to an illustrative embodiment of the invention.
FIG. 4 A is a schematic illustration of a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 4 B is a schematic illustration of another modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 5 is a schematic illustration of another modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 6 is an exploded schematic illustration of a first modular component (e.g., a distribution
BACKGROUND
A robot is generally defined as a reprogrammable and multifunctional manipulator designed to move material, parts, tools, and/or specialized devices (e.g., via variable programmed motions) for performing tasks. Robots may include manipulators that are physically anchored (e.g., industrial robotic arms), mobile devices that move throughout an environment (e.g., using legs, wheels, or traction-based mechanisms), or some combination of one or more manipulators and one or more mobile devices. Robots are currently used in a variety of industries, including, for example, manufacturing, warehouse logistics, transportation, hazardous environments, exploration, and healthcare.
SUMMARY
Robots may be configured to grasp objects (e.g., boxes or other parcels) and move them from one location to another using, for example, a robotic arm with an end effector (e.g., a vacuum-based gripper). For instance, the robotic arm may be positioned such that one or more deformable members (e.g., vacuum cups, such as rubber suction cups, or foam members) of the gripper are in contact with, or are near, a face of an object to be grasped. A vacuum system (e.g., on board the robot) may then be activated to use suction to adhere the object to the gripper and/or deactivated to release the object.
Robotic grippers that use vacuum are typically highly integrated devices. As a result, servicing robotic grippers and/or creating varying gripper configurations (e.g., different arrays of vacuum cups, which may differ in position, size, shape, and/or material) can be cumbersome. The inventors have recognized and appreciated that robotic gripper architectures can be improved by segregating certain structures used to support different functions into separate modules that are easier to replace and/or repair independently.
A robotic vacuum gripper may include a rigid outer structure, a center hub and/or wrist connection (e.g., to pass electrical signals, power and/or vacuum), a vacuum distribution plenum, vacuum valves, electronic components, air distribution channels, and a set of deformable members (e.g., vacuum cups) for contacting objects. In some embodiments, a vacuum gripper can be enhanced by measuring vacuum pressure in the plenum and/or in each vacuum cup (or vacuum cup zone, corresponding to one or more vacuum cups) so that vacuum cups that do not have a good seal against the object being lifted can be selectively turned off, thereby saving vacuum power and/or maximizing the grip strength of the vacuum cups with adequate seals.
In some embodiments, a robotic vacuum gripper includes an integrated configuration of vacuum valves. Previously, vacuum valves have been co-located with the cups they control (and/or the pressure sensors associated therewith). In some embodiments, the vacuum valves can be built directly into a modular component (e.g., a valve manifold). In some embodiments, the modular component comprises a monolithic component (or multiple monolithic components) that holds the valves (e.g., packed tightly together in space) and/or is serviceable independently of other parts of the system. The modular component can interface to the center hub (and/or wrist connection), which can pass vacuum to the modular component (e.g., from a vacuum source).
In some embodiments, one or more pressure sensors (e.g., included in one or more circuit boards) are also included in the modular component. For instance, each pressure sensor can be positioned relative to (e.g., above) a respective opening that is connected to a corresponding vacuum valve. Each pressure sensor can measure a vacuum pressure downstream from the respective valve. In addition, an opposite side of the modular component can have a separate set of openings leading out from the same valves. In some embodiments, another modular component (e.g., a separate distribution manifold) can interface to the modular component (e.g., directly or indirectly). In some embodiments, the other modular component can channel the output of each vacuum valve to a corresponding deformable member, such as a vacuum cup or a foam member.
By adopting a modular approach, the arrangement of deformable members can be made independent of the arrangement of vacuum valves. As a result, a different array of deformable members can be utilized by simply changing out one modular component for another, without affecting the valves or the overall structure of the gripper. In addition, the platform of the array of deformable members can be enlarged, shrunk, reshaped and/or rearranged to better fit the type of object being lifted. In practice, this capability can be advantageous because it is often unclear what arrangement of deformable members will best suit a particular type of load before a real-world attempt is made (let alone a range of loads that the same gripper might be tasked with lifting). It can also be unpredictable when different parts of the gripper might fail during operation. By adopting a modular approach, failures can be isolated to specific modular components, which can be replaced and/or repaired individually, minimizing down time and/or compartmentalizing failure risk.
In one aspect, the invention features a robotic gripper. The robotic gripper includes a first modular component comprising a set of deformable members. The robotic gripper also includes a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. In some embodiments, the set of deformable members comprises a set of vacuum cups. In some embodiments, the set of deformable members comprises a set of foam members.
In some embodiments, the first modular component comprises a set of channels. In some embodiments, each channel in the set of channels defines, at least in part, a fluid connection between at least one vacuum valve in the set of vacuum valves and at least one deformable member in the set of deformable members. In some embodiments, each channel in the set of channels is defined, at least in part, by a monolithic member having a first surface, a second surface opposite the first surface, and a set of bores. In some embodiments, each deformable member in the set of deformable members is mounted to confine a mounting member. In some embodiments, the mounting member contacts the monolithic member at a bottom surface of the monolithic member.
In some embodiments, the robotic gripper comprises a connector configured to pass vacuum from a vacuum source. In some embodiments, the connector defines, at least in part, a fluid connection directly to the second modular component. In some embodiments, the connector defines, at least in part, a fluid connection to a recessed region of the first modular component. In some embodiments, the recessed region of the first modular component is fluidly connected to the second modular component. In some embodiments, the connector is configured to pass at least one of electrical signals or electrical power to one or more components of the robotic gripper.
In some embodiments, the robotic gripper comprises a controller configured to individually control an amount of vacuum supplied by each vacuum valve in the set of vacuum valves. In some embodiments, each vacuum valve in the set of vacuum valves is configured to actuate to adjust an amount of vacuum in the vacuum valve. In some embodiments, the robotic gripper comprises a set of control valves. In some embodiments, each control valve is fluidly connected to, and/or configured to actuate, a respective vacuum valve in the set of vacuum valves to adjust an amount of vacuum in the vacuum valve.
In some embodiments, the robotic gripper comprises a set of pressure sensors. In some embodiments, each pressure sensor in the set of pressure sensors is configured to sense a pressure associated with (i) a respective vacuum valve in the set of vacuum valves, and/or (ii) a respective vacuum zone or deformable member. In some embodiments, each pressure sensor in the set of pressure sensors is electrically connected to a common circuit board. In some embodiments, each pressure sensor in the set of pressure sensors is mounted above a respective vacuum valve in the set of vacuum valves.
In some embodiments, the second modular component includes a structural member configured to hold each vacuum valve in the set of vacuum valves. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to one corresponding deformable member in the set of deformable members. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to at least two corresponding deformable members in the set of deformable members. In some embodiments, each vacuum valve in the set of vacuum valves is fluidly connected to at least three corresponding deformable members in the set of deformable members.
In some embodiments, the robotic gripper comprises at least two groups of deformable members. In some embodiments, deformable members in the first group of deformable members differ from deformable members in the second group of deformable members in at least one of size, shape, or material.
In some embodiments, the invention includes a robot. The robot includes a mobile base. The robot also includes a robotic arm coupled to the mobile base. The robot also includes a robotic gripper (e.g., as set forth above). In some embodiments, the robotic gripper is coupled to a distal end of the robotic arm.
In another aspect, the invention features a method of using a robotic gripper. The method includes providing vacuum to a robotic gripper. The robotic gripper comprises a first modular component comprising a set of deformable members. The robotic gripper comprises a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. The method also comprises routing vacuum through the set of vacuum valves to the set of deformable members.
In some embodiments, the method comprises lifting an object using the robotic gripper by establishing a vacuum seal between the object and at least one deformable member in the set of deformable members, and controlling a robotic arm coupled to the robotic gripper to lift the object while the vacuum seal is established.
In some embodiments, the method comprises individually controlling each vacuum valve in the set of vacuum valves. In some embodiments, routing vacuum through the set of vacuum valves to the set of deformable members comprises routing vacuum from a vacuum source to the set of vacuum valves via a connector of the robotic gripper; and/or routing vacuum from the set of vacuum valves to the set of deformable members via a set of channels defined, at least in part by the first modular component.
In some embodiments, the method comprises applying a vacuum pulse to each vacuum valve in the set of vacuum valves. In some embodiments, the method comprises determining, for each of the vacuum valves, while the vacuum pulse is applied to the vacuum valve and using one or more pressure sensors, a pressure measurement for the vacuum valve. In some embodiments, the method comprises selectively activating one or more of the vacuum valves based, at least in part, on the determined pressure measurements for the vacuum valves.
In some embodiments, the method comprises determining a trajectory for the robotic gripper based at least in part on the determined pressure measurements for the vacuum valves. In some embodiments, the pressure measurement comprises a rate of change of a pressure signal measured by the one or more pressure sensors and/or a peak pressure value of a pressure signal measured by the one or more pressure sensors. In some embodiments, the pressure measurement comprises a time-variant pressure signal measured by the one or more pressure sensors.
In another aspect, the invention features a method of servicing a robotic gripper. The method includes providing a robotic gripper. The robotic gripper comprises a first modular component comprising a set of deformable members. The robotic gripper also comprises a second modular component comprising a set of vacuum valves. Each vacuum valve in the set of vacuum valves is fluidly connected to at least one deformable member in the set of deformable members. The method also includes removing one of the first modular component or the second modular component from the robotic gripper for individual service.
In some embodiments, the flexibility afforded by the modular approach allows for the simultaneous use of different types of deformable members, e.g., those that have different diameters, heights, or number of bellows. As such, âhybridâ grippers can be constructed (e.g., grippers that have different regions optimized for picking different types of objects). As an example, a periphery of a gripper planform can utilize large and/or stiff deformable members to increase a moment-carrying capacity of the gripper, and a central region can utilize smaller and/or softer deformable members to better conform to uneven load surfaces. In some embodiments, a distribution manifold is placed to the side of the valve manifold(s) (rather than underneath), so as to create a thin (e.g., spatula-like) gripper that can fit into tight spaces (e.g., underneath warehouse racks or inside shipping containers). In some embodiments, a distribution manifold is segmented into discrete planforms.
BRIEF DESCRIPTION OF DRAWINGS
The advantages of the invention, together with further advantages, may be better understood by referring to the following description taken in conjunction with the accompanying drawings. The drawings are not necessarily to scale, and emphasis is instead generally placed upon illustrating the principles of the invention.
FIGS. 1 A and 1 B are perspective views of a robot, according to an illustrative embodiment of the invention.
FIG. 2 A depicts robots performing different tasks within a warehouse environment, according to an illustrative embodiment of the invention.
FIG. 2 B depicts a robot unloading boxes from a truck and placing them on a conveyor belt, according to an illustrative embodiment of the invention.
FIG. 2 C depicts a robot performing an order building task in which the robot places boxes onto a pallet, according to an illustrative embodiment of the invention.
FIG. 3 is a perspective view of a robot, according to an illustrative embodiment of the invention.
FIG. 4 A is a schematic illustration of a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 4 B is a schematic illustration of another modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 5 is a schematic illustration of another modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 6 is an exploded schematic illustration of a first modular component (e.g., a distribution manifold) for a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 7 A is a perspective view schematic illustration of a second modular component (e.g., a valve manifold) for a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 7 B is a side view schematic illustration of a second modular component (e.g., a valve manifold) for a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 8 is a schematic illustration of another modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 9 is a schematic illustration of an underside of a modular vacuum gripper having different types of vacuum cups, according to an illustrative embodiment of the invention.
FIG. 10 is a schematic illustration of a cup arrangement on an underside of another modular vacuum gripper having different types of vacuum cups, according to an illustrative embodiment of the invention.
FIGS. 11 A- 11 D are schematic illustrations of possible cup arrangements of different types of vacuum cups for a modular vacuum gripper, according to an illustrative embodiment of the invention.
FIG. 12 illustrates an example configuration of a robotic device, according to an illustrative embodiment of the invention.
FIG. 13 shows a flow chart of a method of using a robotic gripper, according to an illustrative embodiment of the invention.
FIG. 14 shows a flow chart of a method of servicing a robotic gripper, according to an illustrative embodiment of the invention.
DETAILED DESCRIPTION
Robots can be configured to perform a number of tasks in an environment in which they are placed. Exemplary tasks may include interacting with objects and/or elements of the environment. Notably, robots are becoming popular in warehouse and logistics operations. Before robots were introduced to such spaces, many operations were performed manually. For example, a person might manually unload boxes from a truck onto one end of a conveyor belt, and a second person at the opposite end of the conveyor belt might organize those boxes onto a pallet. The pallet might then be picked up by a forklift operated by a third person, who might drive to a storage area of the warehouse and drop the pallet for a fourth person to remove the individual boxes from the pallet and place them on shelves in a storage area. Some robotic solutions have been developed to automate many of these functions. Such robots may either be specialist robots (i.e., designed to perform a single task or a small number of related tasks) or generalist robots (i.e., designed to perform a wide variety of tasks). To date, both specialist and generalist warehouse robots have been associated with significant limitations.
For example, because a specialist robot may be designed to perform a single task (e.g., unloading boxes from a truck onto a conveyor belt), while such specialized robots may be efficient at performing their designated task, they may be unable to perform other related tasks. As a result, either a person or a separate robot (e.g., another specialist robot designed for a different task) may be needed to perform the next task(s) in the sequence. As such, a warehouse may need to invest in multiple specialized robots to perform a sequence of tasks, or may need to rely on a hybrid operation in which there are frequent robot-to-human or human-to-robot handoffs of objects.
In contrast, while a generalist robot may be designed to perform a wide variety of tasks (e.g., unloading, palletizing, transporting, depalletizing, and/or storing), such generalist robots may be unable to perform individual tasks with high enough efficiency or accuracy to warrant introduction into a highly streamlined warehouse operation. For example, while mounting an off-the-shelf robotic manipulator onto an off-the-shelf mobile robot might yield a system that could, in theory, accomplish many warehouse tasks, such a loosely integrated system may be incapable of performing complex or dynamic motions that require coordination between the manipulator and the mobile base, resulting in a combined system that is inefficient and inflexible.
Typical operation of such a system within a warehouse environment may include the mobile base and the manipulator operating sequentially and (partially or entirely) independently of each other. For example, the mobile base may first drive toward a stack of boxes with the manipulator powered down. Upon reaching the stack of boxes, the mobile base may come to a stop, and the manipulator may power up and begin manipulating the boxes as the base remains stationary. After the manipulation task is completed, the manipulator may again power down, and the mobile base may drive to another destination to perform the next task.
In such systems, the mobile base and the manipulator may be regarded as effectively two separate robots that have been joined together. Accordingly, a controller associated with the manipulator may not be configured to share information with, pass commands to, or receive commands from a separate controller associated with the mobile base. As such, such a poorly integrated mobile manipulator robot may be forced to operate both its manipulator and its base at suboptimal speeds or through suboptimal trajectories, as the two separate controllers struggle to work together. Additionally, while certain limitations arise from an engineering perspective, additional limitations must be imposed to comply with safety regulations. For example, if a safety regulation requires that a mobile manipulator must be able to be completely shut down within a certain period of time when a human enters a region within a certain distance of the robot, a loosely integrated mobile manipulator robot may not be able to act sufficiently quickly to ensure that both the manipulator and the mobile base (individually and in aggregate) do not threaten the human. To ensure that such loosely integrated systems operate within required safety constraints, such systems are forced to operate at even slower speeds or to execute even more conservative trajectories than those limited speeds and trajectories as already imposed by the engineering problem. As such, the speed and efficiency of generalist robots performing tasks in warehouse environments to date have been limited.
In view of the above, a highly integrated mobile manipulator robot with system-level mechanical design and holistic control strategies between the manipulator and the mobile base may provide certain benefits in warehouse and/or logistics operations. Such an integrated mobile manipulator robot may be able to perform complex and/or dynamic motions that are unable to be achieved by conventional, loosely integrated mobile manipulator systems. As a result, this type of robot may be well suited to perform a variety of different tasks (e.g., within a warehouse environment) with speed, agility, and efficiency.
Example Robot Overview
In this section, an overview of some components of one embodiment of a highly integrated mobile manipulator robot configured to perform a variety of tasks is provided to explain the interactions and interdependencies of various subsystems of the robot. Each of the various subsystems, as well as control strategies for operating the subsystems, are described in further detail in the following sections.
FIGS. 1 A and 1 B are perspective views of a robot 100 , according to an illustrative embodiment of the invention. The robot 100 includes a mobile base 110 and a robotic arm 130 . The mobile base 110 includes an omnidirectional drive system that enables the mobile base to translate in any direction within a horizontal plane as well as rotate about a vertical axis perpendicular to the plane. Each wheel 112 of the mobile base 110 is independently steerable and independently drivable. The mobile base 110 additionally includes a number of distance sensors 116 that assist the robot 100 in safely moving about its environment. The robotic arm 130 is a 6 degree of freedom (6-DOF) robotic arm including three pitch joints and a 3-DOF wrist. An end effector 150 is disposed at the distal end of the robotic arm 130 . The robotic arm 130 is operatively coupled to the mobile base 110 via a turntable 120 , which is configured to rotate relative to the mobile base 110 . In addition to the robotic arm 130 , a perception mast 140 is also coupled to the turntable 120 , such that rotation of the turntable 120 relative to the mobile base 110 rotates both the robotic arm 130 and the perception mast 140 . The robotic arm 130 is kinematically constrained to avoid collision with the perception mast 140 . The perception mast 140 is additionally configured to rotate relative to the turntable 120 , and includes a number of perception modules 142 configured to gather information about one or more objects in the robot's environment. The integrated structure and system-level design of the robot 100 enable fast and efficient operation in a number of different applications, some of which are provided below as examples.
FIG. 2 A depicts
robots
10 a , 10 b , and 10 c performing different tasks within a warehouse environment. A first robot 10 a is inside a truck (or a container), moving boxes 11 from a stack within the truck onto a conveyor belt 12 (this particular task will be discussed in greater detail below in reference to FIG. 2 B ). At the opposite end of the conveyor belt 12 , a second robot 10 b organizes the boxes 11 onto a pallet 13 . In a separate area of the warehouse, a third robot 10 c picks boxes from shelving to build an order on a pallet (this particular task will be discussed in greater detail below in reference to FIG. 2 C ). The
robots
10 a , 10 b , and 10 c can be different instances of the same robot or similar robots. Accordingly, the robots described herein may be understood as specialized multi-purpose robots, in that they are designed to perform specific tasks accurately and efficiently, but are not limited to only one or a small number of tasks.
FIG. 2 B depicts a robot 20 a unloading boxes 21 from a truck 29 and placing them on a conveyor belt 22 . In this box picking application (as well as in other box picking applications), the robot 20 a repetitiously picks a box, rotates, places the box, and rotates back to pick the next box. Although robot 20 a of FIG. 2 B is a different embodiment from robot 100 of FIGS. 1 A and 1 B , referring to the components of robot 100 identified in FIGS. 1 A and 1 B will ease explanation of the operation of the robot 20 a in FIG. 2 B .
During operation, the perception mast of robot 20 a (analogous to the perception mast 140 of robot 100 of FIGS. 1 A and 1 B ) may be configured to rotate independently of rotation of the turntable (analogous to the turntable 120 ) on which it is mounted to enable the perception modules (akin to perception modules 142 ) mounted on the perception mast to capture images of the environment that enable the robot 20 a to plan its next movement while simultaneously executing a current movement. For example, while the robot 20 a is picking a first box from the stack of boxes in the truck 29 , the perception modules on the perception mast may point at and gather information about the location where the first box is to be placed (e.g., the conveyor belt 22 ). Then, after the turntable rotates and while the robot 20 a is placing the first box on the conveyor belt, the perception mast may rotate (relative to the turntable) such that the perception modules on the perception mast point at the stack of boxes and gather information about the stack of boxes, which is used to determine the second box to be picked. As the turntable rotates back to allow the robot to pick the second box, the perception mast may gather updated information about the area surrounding the conveyor belt. In this way, the robot 20 a may parallelize tasks which may otherwise have been performed sequentially, thus enabling faster and more efficient operation.
Also of note in FIG. 2 B is that the robot 20 a is working alongside humans (e.g., workers
27 a and 27 b ). Given that the robot 20 a is configured to perform many tasks that have traditionally been performed by humans, the robot 20 a is designed to have a small footprint, both to enable access to areas designed to be accessed by humans, and to minimize the size of a safety field around the robot (e.g., into which humans are prevented from entering and/or which are associated with other safety controls, as explained in greater detail below).
FIG. 2 C depicts a robot 30 a performing an order building task, in which the robot 30 a places boxes 31 onto a pallet 33 . In FIG. 2 C , the pallet 33 is disposed on top of an autonomous mobile robot (AMR) 34 , but it should be appreciated that the capabilities of the robot 30 a described in this example apply to building pallets not associated with an AMR. In this task, the robot 30 a picks boxes 31 disposed above, below, or within shelving 35 of the warehouse and places the boxes on the pallet 33 . Certain box positions and orientations relative to the shelving may suggest different box picking strategies. For example, a box located on a low shelf may simply be picked by the robot by grasping a top surface of the box with the end effector of the robotic arm (thereby executing a âtop pickâ). However, if the box to be picked is on top of a stack of boxes, and there is limited clearance between the top of the box and the bottom of a horizontal divider of the shelving, the robot may opt to pick the box by grasping a side surface (thereby executing a âface pickâ).
To pick some boxes within a constrained environment, the robot may need to carefully adjust the orientation of its arm to avoid contacting other boxes or the surrounding shelving. For example, in a typical âkeyhole problemâ, the robot may only be able to access a target box by navigating its arm through a small space or confined area (akin to a keyhole) defined by other boxes or the surrounding shelving. In such scenarios, coordination between the mobile base and the arm of the robot may be beneficial. For instance, being able to translate the base in any direction allows the robot to position itself as close as possible to the shelving, effectively extending the length of its arm (compared to conventional robots without omnidirectional drive which may be unable to navigate arbitrarily close to the shelving). Additionally, being able to translate the base backwards allows the robot to withdraw its arm from the shelving after picking the box without having to adjust joint angles (or minimizing the degree to which joint angles are adjusted), thereby enabling a simple solution to many keyhole problems.
The tasks depicted in FIGS. 2 A- 2 C are only a few examples of applications in which an integrated mobile manipulator robot may be used, and the present disclosure is not limited to robots configured to perform only these specific tasks. For example, the robots described herein may be suited to perform tasks including, but not limited to: removing objects from a truck or container; placing objects on a conveyor belt; removing objects from a conveyor belt; organizing objects into a stack; organizing objects on a pallet; placing objects on a shelf; organizing objects on a shelf; removing objects from a shelf; picking objects from the top (e.g., performing a âtop pickâ); picking objects from a side (e.g., performing a âface pickâ); coordinating with other mobile manipulator robots; coordinating with other warehouse robots (e.g., coordinating with AMRs); coordinating with humans; and many other tasks.
Example Robotic Arm
FIG. 3 is a perspective view of a robot 400 , according to an illustrative embodiment of the invention. The robot 400 includes a mobile base 410 and a turntable 420 rotatably coupled to the mobile base. A robotic arm 430 is operatively coupled to the turntable 420 , as is a perception mast 440 . The perception mast 440 includes an actuator 444 configured to enable rotation of the perception mast 440 relative to the turntable 420 and/or the mobile base 410 , so that a direction of the perception modules 442 of the perception mast may be independently controlled.
The robotic arm 430 of FIG. 3 is a 6-DOF robotic arm. When considered in conjunction with the turntable 420 (which is configured to yaw relative to the mobile base about a vertical axis parallel to the Z axis), the arm/turntable system may be considered a 7-DOF system. The 6-DOF robotic arm 430 includes three
pitch joints
432 , 434 , and 436 , and a 3- DOF wrist 438 which, in some embodiments, may be a spherical 3-DOF wrist.
Starting at the turntable 420 , the robotic arm 430 includes a turntable offset 422 , which is fixed relative to the turntable 420 . A distal portion of the turntable offset 422 is rotatably coupled to a proximal portion of a first link 433 at a first joint 432 . A distal portion of the first link 433 is rotatably coupled to a proximal portion of a second link 435 at a second joint 434 . A distal portion of the second link 435 is rotatably coupled to a proximal portion of a third link 437 at a third joint 436 . The first, second, and
third joints
432 , 434 , and 436 are associated with first, second, and
third axes
432 a , 434 a , and 436 a , respectively.
The first, second, and
third joints
432 , 434 , and 436 are additionally associated with first, second, and third actuators (not labeled) which are configured to rotate a link about an axis. Generally, the nth actuator is configured to rotate the nth link about the nth axis associated with the nth joint. Specifically, the first actuator is configured to rotate the first link 433 about the first axis 432 a associated with the first joint 432 , the second actuator is configured to rotate the second link 435 about the second axis 434 a associated with the second joint 434 , and the third actuator is configured to rotate the third link 437 about the third axis 436 a associated with the third joint 436 . In the embodiment shown in FIG. 3 , the first, second, and
third axes
432 a , 434 a , and 436 a are parallel (and, in this case, are all parallel to the X axis). In the embodiment shown in FIG. 3 , the first, second, and <figure-callout id
CLAIMS
Claims ( 23 )
1 . A robotic gripper comprising:
a first modular component comprising a set of deformable members; and a second modular component comprising a set of vacuum valves, each vacuum valve in the set of vacuum valves fluidly connected to at least one deformable member in the set of deformable members.
2 . The robotic gripper of claim 1 wherein the set of deformable members comprises a set of vacuum cups.
3 . The robotic gripper of claim 1 wherein the set of deformable members comprises a set of foam members.
4 . The robotic gripper of claim 1 wherein the first modular component further comprises a set of channels, each channel in the set of channels defining, at least in part, a fluid connection between at least one vacuum valve in the set of vacuum valves and at least one deformable member in the set of deformable members.
5 . The robotic gripper of claim 4 wherein each channel in the set of channels is defined, at least in part, by a monolithic member having a first surface, a second surface opposite the first surface, and a set of bores.
6 . The robotic gripper of claim 1 further comprising a controller configured to individually control an amount of vacuum supplied by each vacuum valve in the set of vacuum valves.
7 . The robotic gripper of claim 1 wherein each vacuum valve in the set of vacuum valves is configured to actuate to adjust an amount of vacuum in the vacuum valve.
8 . The robotic gripper of claim 1 further comprising a set of pressure sensors, each pressure sensor in the set of pressure sensors configured to sense a pressure associated with (i) a respective vacuum valve in the set of vacuum valves, or (ii) a respective vacuum zone or deformable member.
9 . The robotic gripper of claim 8 wherein each pressure sensor in the set of pressure sensors is mounted above a respective vacuum valve in the set of vacuum valves.
10 . The robotic gripper of claim 1 wherein the second modular component includes a structural member configured to hold each vacuum valve in the set of vacuum valves.
11 . The robotic gripper of claim 1 wherein each vacuum valve in the set of vacuum valves is fluidly connected to one corresponding deformable member in the set of deformable members.
12 . The robotic gripper of claim 1 wherein each vacuum valve in the set of vacuum valves is fluidly connected to at least two corresponding deformable members in the set of deformable members.
13 . The robotic gripper of claim 1 further comprising at least two groups of deformable members, wherein deformable members in the first group of deformable members differ from deformable members in the second group of deformable members in at least one of size, shape, or material.
14 . A robot comprising:
a mobile base; a robotic arm coupled to the mobile base; and the robotic gripper of claim 1 , the robotic gripper coupled to a distal end of the robotic arm.
15 . A method of using a robotic gripper, the method comprising:
providing vacuum to a robotic gripper comprising
a first modular component comprising a set of deformable members; and
a second modular component comprising a set of vacuum valves, each vacuum valve in the set of vacuum valves fluidly connected to at least one deformable member in the set of deformable members; and
routing vacuum through the set of vacuum valves to the set of deformable members.
16 . The method of claim 15 further comprising lifting an object using the robotic gripper by:
establishing a vacuum seal between the object and at least one deformable member in the set of deformable members; and
controlling a robotic arm coupled to the robotic gripper to lift the object while the vacuum seal is established.
17 . The method of claim 15 further comprising individually controlling each vacuum valve in the set of vacuum valves.
18 . The method of claim 15 wherein routing vacuum through the set of vacuum valves to the set of deformable members comprises:
routing vacuum from a vacuum source to the set of vacuum valves via a connector of the robotic gripper;
routing vacuum from the set of vacuum valves to the set of deformable members via a set of channels defined, at least in part, by the first modular component.
19 . The method of claim 15 further comprising:
applying a vacuum pulse to each vacuum valve in the set of vacuum valves;
determining, for each of the vacuum valves, while the vacuum pulse is applied to the vacuum valve and using one or more pressure sensors, a pressure measurement for the vacuum valve; and
selectively activating one or more of the vacuum valves based, at least in part, on the determined pressure measurements for the vacuum valves.
20 . The method of claim 19 further comprising determining a trajectory for the robotic gripper based, at least in part, on the determined pressure measurements for the vacuum valves.
21 . The method of claim 23 wherein the pressure measurement comprises a rate of change of a pressure signal measured by the one or more pressure sensors and/or a peak pressure value of a pressure signal measured by the one or more pressure sensors
22 . The method of claim 23 wherein the pressure measurement comprises a time-variant pressure signal measured by the one or more pressure sensors.
23 . A method of servicing a robotic gripper, the method comprising:
providing a robotic gripper comprising
a first modular component comprising a set of deformable members; and
a second modular component comprising a set of vacuum valves, each vacuum valve in the set of vacuum valves fluidly connected to at least one deformable member in the set of deformable members; and
removing one of the first modular component or the second modular component from the robotic gripper for individual service.
US18/359,349
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Systems and methods for providing modular architectures for robotic end effectors
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WO2025024647A1
( en )
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Systems and methods for providing modular architectures for robotic end effectors
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Systems and methods for providing modular architectures for robotic end effectors
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Systems and methods for providing modular architectures for robotic end effectors
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Hand, handling robot, control device, method for controlling hand, and storage medium
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