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Robotic system with gripping mechanisms, and related systems and methods — Mujin, Inc. (US20230278208A1)

Mujin, Inc. · Google Patents

Google Patents · Patents · License: Open Access

patent, google patents, intellectual property, US20230278208A1, Mujin, Inc., Hironori MIZOGUCHI, en, 2023

ABSTRACT

Abstract

Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a housing, a vacuum-gripping component, and a clamping component. The vacuum-gripping component can be operably coupled to a lower surface of the housing to apply a suction force to an upper surface of a target object. The clamping component can include first and second clamping elements. The first clamping element projects at least partially beneath the lower surface of the housing and is movable along a lateral axis to engage a first side surface of the target object. Similarly, the second clamping element projects at least partially beneath the lower surface of the frame and is movable along the lateral axis to engage with a second side surface of the target object.

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims the benefit of U.S. Provisional Patent Application No. 63/315,947, filed Mar. 2, 2022, the entirety of which is incorporated herein by reference.

TECHNICAL FIELD

The present technology is related generally to robotic systems with gripping mechanisms, and more specifically robotic systems with features for identifying a target object and adjusting the gripper mechanisms based on the target object.

BACKGROUND

With their ever-increasing performance and lowering cost, many robots (e.g., machines configured to automatically/autonomously execute physical actions) are now extensively used in many fields. Robots, for example, can be used to execute various tasks (e.g., manipulate or transfer an object through space) in manufacturing and/or assembly, packing and/or packaging, transport and/or shipping, etc. In executing the tasks, the robots can replicate human actions, thereby replacing or reducing human involvements that are otherwise required to perform dangerous or repetitive tasks.

However, despite the technological advancements, robots often lack the sophistication necessary to duplicate human interactions required for executing larger and/or more complex tasks. Accordingly, there remains a need for improved techniques and systems for managing operations of and/or interactions between robots.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of an example environment in which a robotic system with a gripping mechanism can operate in accordance with some embodiments of the present technology.

FIG. 2 is a block diagram illustrating the robotic system of FIG. 1 in accordance with some embodiments of the present technology.

FIG. 3 is an illustration of a robotic unit configured in accordance with some embodiments of the present technology.

FIGS. 4 A- 4 D are partially schematic views of an end-of-arm tool in accordance with some embodiments of the present technology.

FIGS. 5 A and 5 B are partially schematic side views of an end-of-arm tool moving between first and second positions in accordance with some embodiments of the present technology.

FIGS. 6 A- 6 D are partially schematic views illustrating an end-of-arm tool at various stages of a grasping operation in accordance with some embodiments of the present technology.

FIG. 7 is a flow diagram of a process for operating a robotic system with an object-gripping assembly in accordance with some embodiments of the present technology.

The drawings have not necessarily been drawn to scale. Similarly, some components and/or operations can be separated into different blocks or combined into a single block for the purpose of discussion of some of the implementations of the present technology. Moreover, while the technology is amenable to various modifications and alternative forms, specific implementations have been shown by way of example in the drawings and are described in detail below. The intention, however, is not to limit the technology to the particular implementations described.

For ease of reference, the end-of-arm tool and the components thereof are sometimes described herein with reference to top and bottom, upper and lower, upwards and downwards, a longitudinal plane, a horizontal plane, an x-y plane, a vertical plane, and/or a z-plane relative to the spatial orientation of the embodiments shown in the figures. It is to be understood, however, that the end-of-arm tool, and the components thereof, can be moved to, and used in, different spatial orientations without changing the structure and/or function of the disclosed embodiments of the present technology.

DETAILED DESCRIPTION

Overview

Robotic systems with hybrid gripping mechanisms and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a housing, as well as a vacuum-gripping component and a clamping component operably coupled to the housing. For example, the vacuum-gripping component can be operably coupled to a lower surface of the housing to engage an upper surface of a target object (e.g., via a suction force). The suction force, however, can be insufficient to move the target object with a requisite stability (e.g., to fully grip the target object and/or allow the end-of-arm tool to move the target object at relatively high speeds). The clamping component can help supplement the strength of the grip. To do so, the clamping component can include first and second clamping elements that are positioned (or project) at least partially beneath the lower surface of the housing and are movable along a lateral axis to engage (e.g., clamp on) side surfaces of the target object.

In some embodiments, the clamping component also includes an actuator system that is operably coupled between the housing and the first and second clamping elements. The actuator system can control the movement of the first and second clamping elements along the lateral axis. Purely by way of example, the actuator system can include first and second extendible arms coupled to the first and second clamping elements, respectively, and one or more drivers that control the extension of the extendible arms. Additionally, the end-of-arm tool can include one or more sensors operably coupled to the actuator system and a controller operably coupled to the sensor and the actuator system.

The sensor(s) measure a force between the first and/or second clamping elements and the side surfaces of the target object. For example, the sensor(s) can include a current sensor coupled to an input line for the actuator system to measure the current consumed by the actuator system, a force sensor positioned to measure resistance to the movement of the first and second clamping elements, and/or any other suitable sensors.

The controller can store instructions that, when executed by the controller, cause the controller to receive one or more signals from the sensor related to the force and stop the movement of the first and second clamping elements, via the actuator system, when a magnitude of the force exceeds a threshold value. In some embodiments, the threshold value is a predetermined value configured to avoid damage to the target object from the first and second clamping elements. In some embodiments, the threshold value varies between different target objects.

In some embodiments, the vacuum-gripping component includes first and second vacuum elements that are each operably coupled to the lower surface. Further, the second vacuum element can be spaced apart from the first vacuum element to define a gap therebetween. In such embodiments, the first and second clamping elements can be operatively coupled to the housing through the gap defined by the first and second vacuum elements.

In various embodiments, the first clamping element is movable along the lateral axis independent from the second clamping element, the second clamping element is movable along the lateral axis independent from the first clamping element the first and second clamping elements move in conjunction, and/or only one of the first and second clamping elements moves along the lateral axis.

Several details describing structures or processes that are well known and often associated with robotic systems and subsystems, but that can unnecessarily obscure some significant aspects of the disclosed techniques, are not set forth in the following description for purposes of clarity. Moreover, although the following disclosure sets forth several embodiments of different aspects of the present technology, several other embodiments can have different configurations or different components than those described in this section. Accordingly, the disclosed techniques can have other embodiments with additional elements or without several of the elements described below.

Many embodiments or aspects of the present disclosure described below can take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the relevant art will appreciate that the disclosed techniques can be practiced on computer or controller systems other than those shown and described below. The techniques described herein can be embodied in a special-purpose computer or data processor that is specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions described below. Accordingly, the terms âcomputerâ and âcontrollerâ as generally used herein refer to any data processor and can include Internet appliances and handheld devices, including palm-top computers, wearable computers, cellular or mobile phones, multi-processor systems, processor-based or programmable consumer electronics, network computers, mini computers, and the like. Information handled by these computers and controllers can be presented at any suitable display medium, including a liquid crystal display (LCD). Instructions for executing computer- or controller-executable tasks can be stored in or on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. Instructions can be contained in any suitable memory device, including, for example, a flash drive, USB device, and/or other suitable medium.

The terms âcoupledâ and âconnected,â along with their derivatives, can be used herein to describe structural relationships between components. It should be understood that these terms are not intended as synonyms for each other. Rather, in particular embodiments, âconnectedâ can be used to indicate that two or more elements are in direct contact with each other. Unless otherwise made apparent in the context, the term âcoupledâ can be used to indicate that two or more elements are in either direct or indirect (with other intervening elements between them) contact with each other, or that the two or more elements co-operate or interact with each other (e.g., as in a cause-and-effect relationship, such as for signal transmission/reception or for function calls), or both.

Example Environment for Robotic System

FIG. 1 is an illustration of an example environment in which a robotic system 100 with an object handling mechanism can operate. The operating environment for the robotic system 100 can include one or more structures, such as robots or robotic devices, configured to execute one or more tasks. Aspects of the object handling mechanism can be practiced or implemented by the various structures and/or components.

In the example illustrated in FIG. 1 , the robotic system 100 can include an unloading unit 102 , a transfer unit 104 , a transport unit 106 , a loading unit 108 , or a combination thereof in a warehouse, a distribution center, or a shipping hub. Each of the units in the robotic system 100 can be configured to execute one or more tasks. The tasks can be combined in sequence to perform an operation that achieves a goal, for example, such as to unload objects from a vehicle, such as a truck, trailer, a van, or train car, for storage in a warehouse or to unload objects from storage locations and load them onto a vehicle for shipping. In another example, the task can include moving objects from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. Each of the units can be configured to execute a sequence of actions, such as operating one or more components therein, to execute a task.

In some embodiments, the task can include interaction with a target object 112 , such as manipulation, moving, reorienting or a combination thereof, of the object. The target object 112 is the object that will be handled by the robotic system 100 . More specifically, the target object 112 can be the specific object among many objects that is the target of an operation or task by the robotics system 100 . For example, the target object 112 can be the object that the robotic system 100 has selected for or is currently being handled, manipulated, moved, reoriented, or a combination thereof. The target object 112 , as examples, can include boxes, cases, tubes, packages, bundles, an assortment of individual items, or any other object that can be handled by the robotic system 100 .

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CROSS-REFERENCE TO RELATED APPLICATION(S)

The present application claims the benefit of U.S. Provisional Patent Application No. 63/315,947, filed Mar. 2, 2022, the entirety of which is incorporated herein by reference.

TECHNICAL FIELD

BACKGROUND

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of an example environment in which a robotic system with a gripping mechanism can operate in accordance with some embodiments of the present technology.

FIG. 2 is a block diagram illustrating the robotic system of FIG. 1 in accordance with some embodiments of the present technology.

FIG. 3 is an illustration of a robotic unit configured in accordance with some embodiments of the present technology.

FIGS. 4 A- 4 D are partially schematic views of an end-of-arm tool in accordance with some embodiments of the present technology.

FIGS. 5 A and 5 B are partially schematic side views of an end-of-arm tool moving between first and second positions in accordance with some embodiments of the present technology.

FIGS. 6 A- 6 D are partially schematic views illustrating an end-of-arm tool at various stages of a grasping operation in accordance with some embodiments of the present technology.

FIG. 7 is a flow diagram of a process for operating a robotic system with an object-gripping assembly in accordance with some embodiments of the present technology.

DETAILED DESCRIPTION

Overview

Example Environment for Robotic System

As an example, the task can include transferring the target object 112 from an object source 114 to a task location 116 . The object source 114 is a receptacle for storage of objects. The object source 114 can include numerous configurations and forms. For example, the object source 114 can be a platform, with or without walls, on which objects can be placed or stacked, such as a pallet, a shelf, or a conveyor belt. As another, the object source 114 can be a partially or fully enclosed receptacle with walls or lid in which objects can be placed, such as a bin, cage, or basket. In some embodiments, the walls of the object source 114 with the partially or fully enclosed can be transparent or can include openings or gaps of various sizes such that portions of the objects contained therein can be visible or partially visible through the walls.

FIG. 1 illustrates examples of the possible functions and operations that can be performed by the various units of the robotic system 100 in handling the target object 112 and it is understood that the environment and conditions can differ from those described hereinafter. For example, the unloading unit 102 can be a vehicle offloading robot configured to transfer the target object 112 from a location in a carrier, such as a truck, to a location on a conveyor belt. Also, the transfer unit 104 , such as a palletizing robot, can be configured to transfer the target object 112 from a location on the conveyor belt to a location on the transport unit 106 , such as for loading the target object 112 on a pallet on the transport unit 106 . In another example, the transfer unit 104 can be a piece-picking robot configured to transfer the target object 112 from one container to another container. In completing the operation, the transport unit 106 can transfer the target object 112 from an area associated with the transfer unit 104 to an area associated with the loading unit 108 , and the loading unit 108 can transfer the target object 112 , such as by moving the pallet carrying the target object 112 , from the transfer unit 104 to a storage location, such as a location on the shelves.

In some embodiments, the robotic system 100 can include a unit (e.g., the transfer unit) configured to perform different tasks that involve different target objects. For example, the robotic system 100 can include the transfer unit 104 that is configured (via, e.g., a multi-purpose end-effector) to manipulate packages, package container (e.g., pallets or bins), and/or support objects (e.g., slip sheets). The transfer unit 104 may be located at a station that has the different target objects arranged around the transfer unit 104 . The robotic system 100 can use the multi-purpose configuration to sequence and implement the different tasks to achieve a complex operation. Additionally, or alternatively, the station can be used accommodate or implement different types of tasks (e.g., packing/unpacking objects from a shipping unit, stacking or grouping pallets/slip sheets, and the like) according to real-time requirements or conditions of the overall system 100 . Details regarding the tasks and the multi-purpose configuration are described below.

For illustrative purposes, the robotic system 100 is described in the context of a shipping center; however, it is understood that the robotic system 100 can be configured to execute tasks in other environments or for other purposes, such as for manufacturing, assembly, packaging, healthcare, or other types of automation. It is also understood that the robotic system 100 can include other units, such as manipulators, service robots, modular robots, that are not shown in FIG. 1 . For example, in some embodiments, the robotic system 100 can include a depalletizing unit for transferring the objects from cages, carts, or pallets onto conveyors or other pallets, a container-switching unit for transferring the objects from one container to another, a packaging unit for wrapping the objects, a sorting unit for grouping objects according to one or more characteristics thereof, a piece-picking unit for manipulating the objects differently, such as sorting, grouping, and/or transferring, according to one or more characteristics thereof, or a combination thereof.

The robotic system 100 can include a controller 109 configured to interface with and/or control one or more of the robotic units. For example, the controller 109 can include circuits (e.g., one or more processors, memory, etc.) configured to derive motion plans and/or corresponding commands, settings, and the like used to operate the corresponding robotic unit. The controller 109 can communicate the motion plans, the commands, settings, etc. to the robotic unit, and the robotic unit can execute the communicated plan to accomplish a corresponding task, such as to transfer the target object 112 from the object source 114 to the task location 116 . Additionally, the robotic system can be coupled to environmental sensors 140 and/or an imaging system 160 to record an environment around the robotic system 100 and/or take one or more measurements of the target object 112 to assist the controller 109 in deriving the motion plans.

Suitable System

FIG. 2 is a block diagram illustrating the robotic system 100 in accordance with one or more embodiments of the present technology. In some embodiments, for example, the robotic system 100 can include electronic devices, electrical devices, or a combination thereof, such as a control unit 202 (sometimes also referred to herein as a âprocessorâ), a storage unit 204 , a communication unit 206 , a system input/output (I/O) device 208 having a system interface 210 (sometimes also referred to herein as a â user interface 210 â), one or more actuation devices 212 , one or more transport motors 214 , one or more sensor units 216 , or a combination thereof that are coupled to one another, integrated with or coupled to one or more of the units or robots described in FIG. 1 above, or a combination thereof.

The control unit 202 can be implemented in a number of different ways. For example, the control unit 202 can be a processor, an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, a hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The control unit 202 can execute software and/or instructions to provide the intelligence of the robotic system 100 .

The control unit 202 can be operably coupled to the user interface 210 to provide a user with control over the control unit 202 . The user interface 210 can be used for communication between the control unit 202 and other functional units in the robotic system 100 . The user interface 210 can also be used for communication that is external to the robotic system 100 . The user interface 210 can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system 100 .

The user interface 210 can be implemented in different ways and can include different implementations depending on which functional units or external units are being interfaced with the user interface 210 . For example, the user interface 210 can be implemented with a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), optical circuitry, waveguides, wireless circuitry, wireline circuitry, application programming interface, or a combination thereof.

The storage unit 204 can store the software instructions, master data, tracking data or a combination thereof. For illustrative purposes, the storage unit 204 is shown as a single element, although it is understood that the storage unit 204 can be a distribution of storage elements. Also for illustrative purposes, the robotic system 100 is shown with the storage unit 204 as a single hierarchy storage system, although it is understood that the robotic system 100 can have the storage unit 204 in a different configuration. For example, the storage unit 204 can be formed with different storage technologies forming a memory hierarchal system including different levels of caching, main memory, rotating media, or off-line storage.

The storage unit 204 can be a volatile memory, a nonvolatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit 204 can be a nonvolatile storage such as non-volatile random access memory (NVRAM), Flash memory, disk storage, or a volatile storage such as static random access memory (SRAM). As a further example, storage unit 204 can be a non-transitory computer medium including the non-volatile memory, such as a hard disk drive, NVRAM, solid-state storage device (SSD), compact disk (CD), digital video disk (DVD), or universal serial bus (USB) flash memory devices. The software can be stored on the non-transitory computer readable medium to be executed by a control unit 202 .

The storage unit 204 can be operably coupled to the user interface 210 . The user interface 210 can be used for communication between the storage unit 204 and other functional units in the robotic system 100 . The user interface 210 can also be used for communication that is external to the robotic system 100 . The user interface 210 can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system 100 .

Similar to the discussion above, the user interface 210 can include different implementations depending on which functional units or external units are being interfaced with the storage unit 204 . The user interface 210 can be implemented with technologies and techniques similar to the implementation of the user interface 210 discussed above.

In some embodiments, the storage unit 204 is used to further store and provide access to processing results, predetermined data, thresholds, or a combination thereof. For example, the storage unit 204 can store the master data that includes descriptions of the one or more target objects 112 (e.g., boxes, box types, cases, case types, products, and/or a combination thereof). In one embodiment, the master data includes dimensions, predetermined shapes, templates for potential poses and/or computer-generated models for recognizing different poses, a color scheme, an image, identification information (e.g., bar codes, quick response (QR) codes, logos, and the like), expected locations, an expected weight, and/or a combination thereof, for the one or more target objects 112 expected to be manipulated by the robotic system 100 .

In some embodiments, the master data includes manipulation-related information regarding the one or more objects that can be encountered or handled by the robotic system 100 . For example, the manipulation-related information for the objects can include a center-of-mass location on each of the objects, expected sensor measurements (e.g., for force, torque, pressure, and/or contact measurements), corresponding to one or more actions, maneuvers, or a combination thereof.

The communication unit 206 can enable external communication to and from the robotic system 100 . For example, the communication unit 206 can enable the robotic system 100 to communicate with other robotic systems or units, external devices, such as an external computer, an external database, an external machine, an external peripheral device, or a combination thereof, through a communication path 218 , such as a wired or wireless network.

The communication path 218 can span and represent a variety of networks and network topologies. For example, the communication path 218 can include wireless communication, wired communication, optical communication, ultrasonic communication, or the combination thereof. For example, satellite communication, cellular communication, Bluetooth, Infrared Data Association standard (IrDA), wireless fidelity (WiFi), and worldwide interoperability for microwave access (WiMAX) are examples of wireless communication that can be included in the communication path 218 . Cable, Ethernet, digital subscriber line (DSL), fiber optic lines, fiber to the home (FTTH), and plain old telephone service (POTS) are examples of wired communication that can be included in the communication path 218 . Further, the communication path 218 can traverse a number of network topologies and distances. For example, the communication path 218 can include direct connection, personal area network (PAN), local area network (LAN), metropolitan area network (MAN), wide area network (WAN), or a combination thereof. The robotic system 100 can transmit information between the various units through the communication path 218 . For example, the information can be transmitted between the control unit 202 , the storage unit 204 , the communication unit 206 , the I/ O device 208 , the actuation devices 212 , the transport motors 214 , the sensor units 216 , or a combination thereof.

The communication unit 206 can also function as a communication hub allowing the robotic system 100 to function as part of the communication path 218 and not limited to be an end point or terminal unit to the communication path 218 . The communication unit 206 can include active and passive components, such as microelectronics or an antenna, for interaction with the communication path 218 .

The communication unit 206 can include a communication interface 248 . The communication interface 248 can be used for communication between the communication unit 206 and other functional units in the robotic system 100 . The communication interface 248 can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system 100 .

The communication interface 248 can include different implementations depending on which functional units are being interfaced with the communication unit 206 . The communication interface 248 can be implemented with technologies and techniques similar to the implementation of the control interface 240 .

The I/ O device 208 can include one or more input sub-devices and/or one or more output sub-devices. Examples of the input devices of the I/ O device 208 can include a keypad, a touchpad, soft-keys, a keyboard, a microphone, sensors for receiving remote signals, a camera for receiving motion commands, or any combination thereof to provide data and communication inputs. Examples of the output device can include a display interface. The display interface can be any graphical user interface such as a display, a projector, a video screen, and/or any combination thereof.

The control unit 202 can operate the I/ O device 208 to present or receive information generated by the robotic system 100 . The control unit 202 can operate the I/ O device 208 to present information generated by the robotic system 100 . The control unit 202 can also execute the software and/or instructions for the other functions of the robotic system 100 . The control unit 202 can further execute the software and/or instructions for interaction with the communication path 218 via the communication unit 206 .

The robotic system 100 can include physical or structural members, such as robotic manipulator arms, that are connected at joints for motion, such as rotational displacement, translational displacements, or a combination thereof. The structural members and the joints can form a kinetic chain configured to manipulate an end-effector, such as a gripping element, to execute one or more task, such as gripping, spinning, or welding, depending on the use or operation of the robotic system 100 . The robotic system 100 can include the actuation devices 212 , such as motors, actuators, wires, artificial muscles, electroactive polymers, or a combination thereof, configured to drive, manipulate, displace, reorient, or a combination thereof, the structural members about or at a corresponding joint. In some embodiments, the robotic system 100 can include the transport motors 214 configured to transport the corresponding units from place to place.

The robotic system 100 can include the sensor units 216 configured to obtain information used to execute tasks and operations, such as for manipulating the structural members or for transporting the robotic units. The sensor units 216 can include devices configured to detect or measure one or more physical properties of the <figure-callout id="100" label="robotic system" filenames="US20230278208A1-

CLAIMS

Claims ( 20 )

We claim:

1 . An end-of-arm tool, comprising:

a housing; a vacuum-gripping component operably coupled to a lower surface of the housing for engaging an upper surface of a target object; and a clamping component, including:

a first clamping element positioned at least partially beneath the lower surface of the housing and movable along a lateral axis to engage a first side surface of the target object; and

a second clamping element positioned at least partially beneath the lower surface of the housing and movable along the lateral axis to engage with a second side surface of the target object, wherein the first and second clamping elements are configured to provide compressing forces on opposing first side surface and second side surfaces of the target object.

2 . The end-of-arm tool of claim 1 wherein the vacuum-gripping component includes:

a first vacuum element operably coupled to a first side of the lower surface; and

a second vacuum element coupled to a second side of the lower surface and spaced apart from the first vacuum element to define a gap therebetween.

3 . The end-of-arm tool of claim 2 wherein the first clamping element and the second clamping element are operably coupled to the housing through the gap defined by the first and second vacuum elements.

4 . The end-of-arm tool of claim 1 wherein the first clamping element is movable along the lateral axis independent from the second clamping element.

5 . The end-of-arm tool of claim 1 wherein the clamping component further comprises an actuator system operably coupled between the housing and the first and second clamping elements, wherein the actuator system controls movement of the first and second clamping elements along the lateral axis.

6 . The end-of-arm tool of claim 5 , further comprising:

a sensor operably coupled to the actuator system to measure a force between the first and second clamping elements and the first and second side surfaces of the target object; and a controller operably coupled to the sensor and the actuator system, the controller storing instructions that, when executed by the controller, cause the controller to:

receive one or more signals from the sensor related to the force; and

stop the movement of the first and second clamping elements, via the actuator system, when a magnitude of the force meets or exceeds a threshold value representative of the first and second clamping elements contacting and engaging the corresponding first and second side surfaces.

7 . The end-of-arm tool of claim 6 wherein the sensor is a current sensor coupled to an input line for the actuator system to measure a current to the actuator system.

8 . The end-of-arm tool of claim 6 wherein the sensor is a force sensor positioned to measure resistance to the movement of the first and second clamping elements.

9 . The end-of-arm tool of claim 6 wherein the threshold value is a predetermined value configured to avoid damage to the target object from the first and second clamping elements.

10 . A method for operating an end-of-arm tool, the method comprising:

identifying parameters of a target object, the parameters including at least one of a length of the target object or a width of the target object; generating commands for approaching the target object with the end-of-arm tool, wherein the end-of-arm tool comprises a frame, a vacuum-gripping component operably coupled to a lower surface of the frame, and a clamping system having first and second clamping elements projecting from the lower surface of the frame, and wherein approaching the target object includes positioning the end-of-arm tool such that the target object is between the first and second clamping elements; generating commands for grasping the target object using the vacuum-gripping component and the first and second clamping elements; generating commands for transporting the target object from a pick-up location to a placing location; and generating commands for releasing the target object at the placing location.

11 . The method of claim 10 wherein generating the commands for grasping the target object includes:

generating commands for moving the first and second clamping elements along a longitudinal axis of the end-of-arm tool toward sidewalls of the target object; and

generating commands for applying a suction force to an upper surface of the target object via the vacuum-gripping component.

12 . The method of claim 11 wherein:

the end-of-arm tool further includes:

an actuator system operably coupled to the first and second clamping elements; and

a sensor operably coupled to the actuator system to measure a current required to move first and second clamping elements along the longitudinal axis; and

generating the commands for grasping the target object further includes:

generating commands to obtain, from the sensor, one or more signals related to the current required to move first and second clamping elements along the longitudinal axis;

generating commands to detect, based on the one or more signals, when the first and second clamping elements engage the sidewalls of the target object; and

generating commands for stopping movement of first and second clamping elements along the longitudinal axis.

13 . The method of claim 10 wherein generating the commands for approaching the target object includes:

determining, from the parameters of the target object, an initial width between the first and second clamping elements; and

generating commands to move at least one of the first and second clamping elements along a longitudinal axis of the end-of-arm tool to position the first and second clamping elements at the initial width.

14 . The method of claim 13 wherein the initial width is less than ten percent larger than one of the length of the target object or the width of the target object.

15 . The method of claim 10 wherein generating the commands for releasing the target object in the placing location includes:

identifying a trajectory from the placing location for the end-of-arm tool without impacting an environment around the placing location;

generating commands for moving at least one of the first and second clamping elements along a longitudinal axis of the end-of-arm tool away from a sidewall of the target object;

generating commands for disengaging an upper surface of the target object with the vacuum-gripping component; and

generating commands for moving the end-of-arm tool along the identified trajectory.

16 . The method of claim 10 wherein the parameters of the target object include a surface area of an upper surface of the target object, and wherein generating the commands for grasping the target object includes:

identifying a subsection of the vacuum-gripping component corresponding to the upper surface after approaching the target object based on the surface area; and

generating commands for operating the subsection of the vacuum-gripping component to apply a suction force to the upper surface.

17 . A robotic system, comprising:

a robotic arm; and an end effector operably coupled to the robotic arm, the end effector comprising:

a housing having a lower surface;

a suction-gripping component coupled to the lower surface of the housing; and

an object-clamping component, comprising:

a first clamping portion projecting from the lower surface beyond the suction-gripping component;

a second clamping portion projecting from the lower surface beyond the suction-gripping component; and

an actuator system operably coupled to the first clamping portion to move the first clamping portion along a motion path parallel to a lateral axis of the housing.

18 . The robotic system of claim 17 wherein the end effector further comprises one or more sensors operably coupled to the actuator system, and wherein the robotic system a controller operably coupled to the one or more sensors to:

receive one or more sensor signals while the actuator system is moving the first clamping portion along the motion path;

detect, based on the one or more sensor signals, when the object-clamping component engages side surfaces of a target object with a predetermined clamping force; and

generate commands for the actuator system that cause the actuator system to stop moving the first clamping portion along the motion path.

19 . The robotic system of claim 17 wherein the motion path is a first motion path, and wherein the actuator system is further operably coupled to the second clamping portion to move the second clamping portion along a second motion path parallel to the lateral axis of the housing.

20 . The robotic system of claim 19 wherein, along the second motion path, the second clamping portion is movable between a first position spaced apart from a front edge of the housing and a second position at least partially aligned with the front edge of the housing.

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Robotic system with gripping mechanisms, and related systems and methods

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Inspection device and inspection method

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Robotic system with gripping mechanism and related systems and methods

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Inspection device and inspection method

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2023-12-12

Robotic system with gripping mechanisms, and related systems and methods — Mujin, Inc. (US20230278208A1)

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