End effector for package pick-up and placement

Abstract

The present invention is titled "End Effector for Package Pickup and Placement". An end effector for picking up packages is provided. An exemplary end effector includes a vacuum plate that is coupled to a machine, where the vacuum plate includes a first set of vacuum cups. Additionally, the end effector includes a gripper plate that is movably coupled to the machine. The gripper plate moves between a retracted position and an extended position. In the retracted position, the gripper plate is aligned with the vacuum plate such that the gripper plate abuts the vacuum plate. In the extended position, the gripper plate extends from the vacuum plate. In some examples, when the gripper plate is in the retracted position, the end effector is configured to pick up and place a first type of package. Additionally, in some examples, when the gripper plate is in the extended position, the end effector is configured to pick up and place a second type of package.

Description

[0001] This application is a divisional application of a Chinese patent application filed on May 22, 2020, with the title "End Effector for Package Pickup and Placement" and the application number 202010445986.9. Technical Field

[0002] Embodiments of the present disclosure generally relate to a material handling environment, and more particularly, to an end effector for a machine for picking up and placing packages in a material handling environment. Background Art

[0003] A material handling environment such as a warehouse, a retail location, and / or a shipping location may include storage compartments or storage racks that can be used to store packages. One or more machines may assist in storing and retrieving packages from these compartments or racks. Examples of such machines may include robotic arms, conveyors, cutter systems, sorters, etc. Summary of the Invention

[0004] The various embodiments shown herein disclose an end effector for a machine. The end effector includes a vacuum plate configured to be coupled to the machine, and the vacuum plate includes a first set of vacuum cups. In addition, the end effector includes a gripper plate configured to be movably coupled to the machine. The gripper plate is configured to move between a retracted position and an extended position. In the retracted position, the gripper plate is aligned with the vacuum plate such that the gripper plate abuts the vacuum plate. In the extended position, the gripper plate extends from the vacuum plate. In some examples, when the gripper plate is in the retracted position, the end effector is configured to pick up and place a first type of package. In addition, in some examples, when the gripper plate is in the extended position, the end effector is configured to pick up and place a second type of package.

[0005] The various embodiments shown herein disclose a machine that includes a first actuation unit. Additionally, the machine includes a shelf that is coupled to the first actuation unit. The first actuation unit is configured to facilitate movement of the shelf along a first axis of the machine. Further, the machine includes a second actuation unit that is coupled to the shelf. Additionally, the machine includes an end effector that is coupled to the second actuation unit. The second actuation unit is configured to facilitate movement of the end effector along another axis that is perpendicular to the first axis. The end effector includes a base plate that is coupled to the second actuation unit. Further, the end effector includes a vacuum plate that is coupled to the base plate. The vacuum plate includes a first set of vacuum cups. Additionally, the end effector includes a gripper plate that is movably coupled to the base plate. The gripper plate is configured to move between a retracted position and an extended position. In the retracted position, the gripper plate is aligned with the vacuum plate such that the gripper plate abuts the vacuum plate. In the extended position, the gripper plate extends from the vacuum plate. When the gripper plate is in the retracted position, the end effector is configured to pick up and place a first type of package. Further, when the gripper plate is in the extended position, the end effector is configured to pick up and place a second type of package.

[0006] The various embodiments shown herein disclose a method for operating a machine. The method includes determining the type of package to be picked up by the machine, where the type of package is at least one of a first type of package or a second type of package. In response to determining that the type of package is a first type of package, causing a gripper plate in an end effector of the machine to move to a retracted position. In the retracted position, the gripper plate is aligned with and abuts a vacuum plate in the end effector. Further, in the retracted position, the method includes actuating a first set of vacuum cups of the vacuum plate and a second set of vacuum cups of the gripper plate to pick up the package. In response to determining that the type of package is a second type of package, the method includes causing the gripper plate in the end effector of the machine to move to an extended position. In the extended position, the gripper plate extends from the vacuum plate to hold the second type of package between the gripper plate and the vacuum plate. Description of the Drawings

[0007] The description of the embodiments may be read in conjunction with the drawings. It should be understood that for simplicity and clarity of illustration, the elements shown in the figures are not necessarily drawn to scale. For example, the dimensions of some of the elements are exaggerated relative to other elements. Embodiments in accordance with the teachings of the present disclosure are shown and described with respect to the accompanying drawings in which:

[0008] Figure 1 A perspective view of a machine in accordance with one or more embodiments is shown;

[0009] Figure 2 A side view of a machine in accordance with one or more embodiments is shown;

[0010] Figure 3 Shows a perspective view of an end effector of a machine according to one or more embodiments;

[0011] Figure 4 Shows another perspective view of an end effector of a machine according to one or more embodiments;

[0012] Figure 5 Shows a block diagram of a control system according to one or more embodiments;

[0013] Figure 6 Shows a flowchart depicting a method for operating a machine according to one or more embodiments;

[0014] Figure 7 Shows a perspective view of a machine that has picked up a first type of package according to one or more embodiments;

[0015] Figure 8 Shows a perspective view of a machine that has picked up a second type of package according to one or more embodiments; and

[0016] Figure 9 Shows another flowchart depicting a method for operating a machine according to one or more embodiments. DETAILED DESCRIPTION

[0017] Some embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all, embodiments of the disclosure are shown. In fact, the disclosures may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements. Throughout the specification, like reference numerals refer to like elements. The terminology used in this patent is not meant to be limiting, and the devices or portions thereof described herein may be attached or utilized in other orientations.

[0018] The term "comprising" means including but not limited to, and should be construed in a manner commonly used in the patent context. It should be understood that the use of broad terms such as "including", "comprising", and "having" provides support for narrower terms such as "consisting of", "consisting essentially of", and "substantially consisting of".

[0019] Phrases such as "in one embodiment", "according to one embodiment", etc. generally mean that the particular feature, structure, or characteristic following the phrase may be included in at least one embodiment of the present disclosure, or may be included in more than one embodiment of the present disclosure (importantly, such phrases do not necessarily refer to the same embodiment).

[0020] As used herein, the term "exemplary" means "serving as an example, instance, or illustration." Any particular implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other particular implementations.

[0021] If the specification states that a component or feature "may," "can," "could," "should," "would," "preferably," "possibly," "ordinarily," "optionally," "for example," "frequently," or "might" (or other such words) be included or have a characteristic, then the particular component or feature is not necessarily to be included or to have that characteristic. Such a component or feature may optionally be included in some embodiments or may be excluded.

[0022] As used herein, the term "package" may correspond to a physical item, parcel, object, element, device, etc. For example, a warehouse or a retail point (e.g., a scenario) may be configured to store packages such as packages for shipping, envelopes, cartons, shipping containers, handbags, etc. In some examples, a package may correspond to a two-dimensional (2D) package and / or a three-dimensional (3D) package. In an exemplary embodiment, a 3D package may correspond to a package having three dimensions (e.g., height, width, and length). In an exemplary embodiment, a 3D package may correspond to a 3D package in which one dimension (e.g., height) may be negligible. Some examples of 3D packages may include, but are not limited to, paper, envelopes, etc.

[0023] As used herein, the term "first type of package" may correspond to a package having a smooth surface. Some examples of the first type of package may include, but are not limited to, cartons, boxes, plastic bags, etc.

[0024] As used herein, the term "second type of package" may correspond to a package having an irregular surface. In some examples, the irregular surface may define features on the package such as flanges, grooves, protrusions, etc. Some examples of the second type of package may include, but are not limited to, handbags, containers, etc.

[0025] In material handling environments such as warehouses and retail locations, machines with end effectors are used to pick up and place packages. Examples of end effectors can include vacuum-based end effectors or clamp-based end effectors. In some examples, a vacuum-based end effector can be configured to pick up a first package of a first type of package, while a clamp-based end effector can be configured to pick up a second package of a second type of package. In an exemplary embodiment, the first type of package can include a package having (a) substantially smooth surface(s). Some examples of the first type of package can include, but are not limited to, cardboard boxes, cartons, plastic bags, etc. In an exemplary embodiment, the second type of package can include a package that can have (a) irregular surface(s). For example, the irregular surface of the second package can define features such as, but not limited to, flanges, grooves, protrusions, etc. In some examples, the clamp-based manipulator on the machine can utilize these features to pick up the second package.

[0026] Traditionally, based on the type of package to be picked up and placed (first type of package or second type of package), an operator of the machine can attach an appropriate end effector. For example, to enable the machine to pick up a first package of the first type of package, the operator can attach a vacuum-based end effector to the machine. Similarly, to enable the machine to pick up a second package of the second type of package, the operator can replace the vacuum-based end effector with a clamp-based end effector. Such replacement of end effectors can result in a loss of productivity.

[0027] The apparatus, system, and method described herein disclose an end effector that enables a machine to pick up any type of package (e.g., first type of package or second type of package) without replacing the end effector. The end effector can include a base plate coupled to the machine. Additionally, the end effector can include a vacuum plate that can be coupled to the base plate. The vacuum plate can have a first set of vacuum cups mounted on a first top surface of the vacuum plate. In an exemplary embodiment, the first set of vacuum cups is coupled to a vacuum generator on the machine. The vacuum generator can be configured to create a vacuum in the first set of vacuum cups to enable the end effector to grip / pick up a first package of the first type of package through at least the first set of vacuum cups.

[0028] The end effector further includes a gripper plate movably coupled to the base plate. The gripper plate is configured to move between a retracted position and an extended position. In some examples, the gripper plate is coupled to the base plate by a biasing member such as, but not limited to, a spring. In an exemplary embodiment, when no external force is applied to the gripper plate (e.g., pushing the gripper plate to the retracted position), the biasing member holds the gripper plate in the retracted position. In the retracted position, the gripper plate aligns with the vacuum plate such that the first top surface of the vacuum plate and the second top surface of the gripper plate are in the same plane. In some examples, also in the retracted position, the gripper plate may abut the vacuum plate such that the second top surface of the gripper plate and the first top surface of the vacuum plate together form a continuous top surface of the end effector. Further, the gripper plate has a second set of vacuum cups mounted on the second top surface of the gripper plate. The second set of vacuum cups may also be coupled to a vacuum generator on the machine.

[0029] In the retracted position, the end effector is configured to grip and / or pick up a first package of a first type of package using a first set of vacuum cups (positioned on the vacuum plate) and a second set of vacuum cups (positioned on the gripper plate).

[0030] In an exemplary embodiment, the gripper plate may also be coupled to an actuation unit configured to apply a force on the gripper plate such that the gripper plate moves to the extended position. In the extended position, the gripper plate is configured to extend from the vacuum plate. Further, in the extended position, the end effector is configured to grip / pick up a second package of a second type of package by holding the second package between the gripper plate and the vacuum plate. Thus, according to one or more embodiments, the end effector enables the machine to pick up a first type of package and a second type of package without changing the end effector for each type of package (i.e., the first type of package and the second type of package).

[0031] Figure 1 and Figure 2 Perspective and side views of a machine 100 according to one or more embodiments are shown, respectively. In an exemplary embodiment, the machine 100 includes a first actuation unit 102, a second actuation unit 104, a shelf 106, a vertical support member 108, an end effector 110, and a control system 112. In some examples, the first actuation unit 102 includes one or more traction members 114, a first motor 116, and one or more first tracks 118. Further, in some examples, the second actuation unit 104 includes a first base plate 120, a track frame 122, a second motor 124, and a rack assembly 126.

[0032] Referring to the first actuation unit 102, one or more first rails 118 may be positioned along the first axis 128. In an exemplary embodiment, one or more first rails 118 define a first lateral path along the first axis 128. In some examples, one or more traction members 114 are movably engaged with one or more first rails 118. Examples of one or more traction members 114 may include, but are not limited to, wheels, belts, and webbing. Additionally, a first motor 116 is coupled to one or more traction members 114. In an exemplary embodiment, the first motor 116 may be configured to drive one or more traction members 114 such that one or more traction members 114 move along the first axis 128 on one or more first rails 118.

[0033] In some examples, a shelf 106 is coupled to one or more traction members 114 such that when the first motor 116 drives one or more traction members 114, the shelf 106 also moves along the first axis 128. In some examples, a vertical support member 108 may be fixedly mounted on the shelf 106. The vertical support member 108 has a first end 130 (see Figure 2 ) along a longitudinal axis 134 of the vertical support member 108 (see Figure 2 ) and a second end 132. In an exemplary embodiment, the first end 130 of the vertical support member 108 is fixedly coupled to the shelf 106 such that the longitudinal axis 134 of the vertical support member 108 is orthogonal to the first axis 128. Additionally, the second end 132 of the vertical support member 108 is fixedly coupled to a second motor 124.

[0034] In an exemplary embodiment, the vertical support member 108 is also coupled to a first substrate 120 in the direction of the first axis 128 and proximal to the first end 130 of the vertical support member 108. In some examples, the first substrate 120 is coupled to the vertical support member 108 such that a longitudinal axis 136 of the first substrate 120 (see Figure 2 ) is perpendicular to the longitudinal axis 134 of the vertical support member 108 and the first axis 128. In some examples, a perimeter of the first substrate 120 extends from a perimeter of the shelf 106. Additionally, the first substrate 120 defines a first surface 140 and a second surface 142. In an exemplary embodiment, the first surface 140 of the first substrate 120 abuts the vertical support member 108, and the second surface 142 of the first substrate 120 abuts a track frame 122. In some examples, the track frame 122 is fixedly coupled to the first substrate 120.

[0035] In an exemplary embodiment, the track frame 122 defines a first end 144, a second end 146, a first surface 148, and a second surface 150. The first end 144 of the track frame 122 and the second end 146 of the track frame 122 are defined along the longitudinal axis 134 of the vertical support member 108. In some examples, the first end 144 of the track frame 122 may be proximal to the shelf 106, and the second end 146 of the track frame 122 may be distal to the shelf 106. Additionally, in some examples, the track frame 122 includes a wing portion 152 and a body portion 154. In some examples, the wing portion 152 of the track frame 122 extends from the first end 144 of the track frame 122 to a junction 156 between the wing portion 152 and the body portion 154. Further, the body portion 154 extends between the second end 146 of the track frame 122 and the junction 156 between the wing portion 152 and the body portion 154. In some examples, the length of the wing portion 152 of the track frame 122 along the longitudinal axis 136 of the first substrate 120 is greater than the length of the body portion 154 along the longitudinal axis 136 of the first substrate 120. Additionally, in some examples, the length of the wing portion 152 of the track frame 122 may be equal to the length of the first substrate 120 along the longitudinal axis 136 of the first substrate 120. In an exemplary embodiment, the wing portion 152 of the track frame 122 is coupled to the first substrate 120 by one or more means such as but not limited to nuts and bolts, welding, etc., such that a portion of the first surface 148 of the track frame 122 (i.e., the first surface 148 included within the wing portion 152 of the track frame 122) abuts the second surface 142 of the first substrate 120.

[0036] In an exemplary embodiment, the second surface 150 of the track frame 122 may define a through hole 158 in the body portion 154 of the track frame 122. The through hole 158 extends from the second surface 150 of the track frame 122 to the first surface 148 of the track frame 122 up to the first surface 148 of the track frame 122. Additionally, in some examples, the through hole 158 is positioned proximal to the second end 146 of the track frame 122. In an exemplary embodiment, the through hole 158 is configured to receive a rotor shaft (not shown) of the second motor 124. The rotor shaft (not shown) of the second motor 124 is configured to receive a sprocket 160 having a plurality of first teeth 162.

[0037] Referring back to the track frame 122, in some examples, the track frame 122 further includes a second track 164 and a third track 165. The second track 164 and the third track 165 extend from a first end 144 of the track frame 122 to a second end 146 of the track frame 122 along a longitudinal axis 134 of the vertical support member 108. Additionally, the second track 164 and the third track 165 may be defined such that the second track 164 is spaced apart from the third track 165 along a longitudinal axis 136 of the first substrate 120. Additionally, the second track 164 and the third track 165 may be defined at a periphery of a body portion 154 of the track frame 122. In some examples, the second track 164 and the third track 165 are configured to provide a second lateral path for components of the machine 100 to traverse along the longitudinal axis 134 of the vertical support member 108. For example, the second track 164 and the third track 165 may provide a second lateral path for the rack assembly 126 to traverse along the longitudinal axis 134 of the vertical support member 108.

[0038] In an exemplary embodiment, the rack assembly 126 may be movably mounted on the second track 164 and the third track 165. The rack assembly 126 includes a rack 166, a counterweight 168, and a rack frame 170. In some examples, the rack 166 may be movably mounted on the third track 165. In an exemplary embodiment, the rack 166 may slide on the third track 165. Additionally, the rack 166 includes a plurality of second teeth 172 configured to engage a plurality of first teeth 162 on the sprocket 160. Thus, when the second motor 124 rotates the sprocket 160, the sprocket 160 causes the rack 166 to slide on the third track 165. In an exemplary embodiment, to balance the weight of the rack 166, the rack 166 may be coupled to the counterweight 168 via the rack frame 170. In some examples, the counterweight 168 may be mounted on the second track 164 such that the counterweight 168 may slide on the second track 164. In some examples, as the rack 166 slides along the third track 165, the counterweight 168 also slides along the second track 164. In some examples, the counterweight 168 may not be mounted on the second track 164, and the rack 166 may not be mounted on the third track 165. In an alternative embodiment, the counterweight 168 may be mounted on the third track 165, and the rack 166 may be mounted on the second track 164.

[0039] In an exemplary embodiment, the end effector 110 is fixedly coupled to the rack assembly 126. In some examples, the end effector 110 is coupled to the rack 166. In combination with Figure 3 and Figure 4 The structure of the end effector 110 is described in further detail.

[0040] Figure 3A perspective view of an end effector 110 according to one or more embodiments is shown. In an exemplary embodiment, the end effector 110 includes a second substrate 302, a vacuum plate 304, a gripper plate 306, and a third actuation unit 308. In an exemplary embodiment, the second substrate 302 includes a base portion 310 and an L-shaped portion 312. The base portion 310 of the second substrate 302 may be configured to be coupled to a rack 166. In some examples, the L-shaped portion 312 is coupled to the base portion 310 of the second substrate 302. In an exemplary embodiment, the L-shaped portion 312 includes a first arm 314 and a second arm 316. The first arm 314 may be coupled to the base portion 310 such that the first arm 314 extends from the base portion 310 along a second axis 318. In some examples, when the end effector 110 is coupled to the machine 100, the second axis 318 is parallel to the first axis 128. In an exemplary embodiment, the second arm 316 is coupled to the first arm 314 such that the second arm 316 extends from the first arm 314 and is orthogonal to the first arm 314. Additionally, the second arm 316 may extend along a third axis 324. In some examples, when the end effector 110 is coupled to the machine 100, the third axis 324 is parallel to the longitudinal axis 136 of the first substrate 120.

[0041] In some examples, the second arm 316 has a first surface 320 and a second surface 322. The first surface 320 of the second arm 316 is proximal to the base portion 310, and the second surface 322 of the second arm 316 is distal to the base portion 310. In an exemplary embodiment, the vacuum plate 304 is disposed on the second surface 322 of the second arm 316. In an exemplary embodiment, the vacuum plate 304 defines a first surface 326, a second surface 328, a first end 330, and a second end 332. The first end 330 of the vacuum plate 304 and the second end 332 of the vacuum plate 304 can be positioned along a fourth axis 334. In an exemplary embodiment, the fourth axis 334 is orthogonal to the second axis 318 and the third axis 324. The first surface 326 of the vacuum plate 304 abuts the second surface 322 of the second arm 316. The second surface 328 of the vacuum plate 304 defines a first portion 336 of the vacuum plate 304 and a second portion 338 of the vacuum plate 304. The first portion 336 of the vacuum plate 304 can extend from the first end 330 of the vacuum plate 304 to a junction 340 between the first portion 336 of the vacuum plate 304 and the second portion 338 of the vacuum plate 304. Additionally, the second portion 338 of the vacuum plate 304 can extend between the second end 332 of the vacuum plate 304 and the junction 340 between the first portion 336 of the vacuum plate 304 and the second portion 338 of the vacuum plate 304. In some examples, the width of the first portion 336 of the vacuum plate 304 is greater than the width of the second portion 338 of the vacuum plate 304, such that a step 341 is defined at the junction 340 between the first portion 336 of the vacuum plate 304 and the second portion 338 to the second end 332 of the vacuum plate 304. Hereinafter, the second surface 328 of the vacuum plate 304 within the first portion 336 of the vacuum plate 304 is referred to as the third surface 329. Additionally, hereinafter, the second surface 328 of the vacuum plate 304 within the second portion 338 of the vacuum plate 304 is referred to as the fourth surface 331.

[0042] In an exemplary embodiment, the first portion 336 of the vacuum plate 304 includes a first set of vacuum cups 342. The first set of vacuum cups 342 is positioned on the third surface 329 of the vacuum plate 304. Additionally, the first set of vacuum cups 342 is coupled to a first set of vacuum conduits 344 that extend from the third surface 329 of the vacuum plate 304 to the first surface 326 of the vacuum plate 304. In some examples, the first set of vacuum conduits 344 can also penetrate the second arm 316. In an exemplary embodiment, the fourth surface 331 of the vacuum plate 304 defines a second set of vacuum conduits 346 that can extend to the first surface 326 of the vacuum plate 304. Similar to the first set of vacuum conduits 344, the second set of vacuum conduits 346 can also penetrate the second arm 316.

[0043] In addition, the fourth surface 331 of the vacuum plate 304 also defines a second through hole 348 and a third through hole 349 in the second portion 338 of the vacuum plate 304. The second through hole 348 and the third through hole 349 can extend from the fourth surface 331 of the vacuum plate 304 to the first surface 326 of the vacuum plate 304. In an exemplary embodiment, the second through hole 348 and the third through hole 349 are configured to receive a first extensible arm 350 and a second extensible arm 351, respectively. In some examples, the first extensible arm 350 and the second extensible arm 351 can correspond to arms having variable lengths. Some examples of the first extensible arm 350 and the second extensible arm 351 can include telescopic arms. In an exemplary embodiment, based on the lengths of the first extensible arm 350 and the second extensible arm 351, the first extensible arm 350 and the second extensible arm 351 can be configured to be in an extended state and a retracted state. For example, when the first extensible arm 350 and the second extensible arm 351 have the maximum possible length, the first extensible arm 350 and the second extensible arm 351 are considered to be in the extended state. In the extended state, the first extensible arm 350 and the second extensible arm 351 protrude from the vacuum plate 304. In some examples, in the extended state, the first extensible arm 350 and the second extensible arm 351 protrude from the second portion 338 of the vacuum plate 304.

[0044] In another example, when the first extensible arm 350 and the second extensible arm 351 have the minimum possible length, the first extensible arm 350 and the second extensible arm 351 are considered to be in the retracted state. In an exemplary embodiment, the first extensible arm 350 and the second extensible arm 351 can be coupled to the second arm 316 by biasing members such as, but not limited to, a first spring 352 and a second spring 353. In some examples, the first spring 352 and the second spring 353 can be configured to be able to hold the first extensible arm 350 and the second extensible arm 351 in the extended position. In an alternative embodiment, the first spring 352 and the second spring 353 can be configured to hold the first extensible arm 350 and the second extensible arm 351 in the retracted position.

[0045] In an exemplary embodiment, the gripper plate 306 may be coupled to a first extensible arm 350 and a second extensible arm 351. In an exemplary embodiment, the gripper plate 306 has a first end 354, a second end 356, a first surface 358, a second surface 360, and a second set of vacuum cups 362. In an exemplary embodiment, the first end 354 of the gripper plate 306 and the second end 356 of the gripper plate 306 may be defined along a fourth axis 334. Further, the first surface 358 of the gripper plate 306 is proximal to the fourth surface 331 of the vacuum plate 304, and the second surface 360 of the gripper plate 306 is distal to the fourth surface 331 of the vacuum plate 304. Further, the second set of vacuum cups 362 may be positioned on the second surface 360 of the gripper plate 306.

[0046] Because the gripper plate 306 is coupled to the first extensible arm 350 and the second extensible arm 351, and the lengths of the first extensible arm 350 and the second extensible arm 351 are variable, the position of the gripper plate 306 may vary according to changes in the lengths of the first extensible arm 350 and the second extensible arm 351. For example, the gripper plate 306 may also traverse / move between a retracted position and an extended position. Figure 4 Also shown is the configuration of the end effector 110 when the gripper plate 306 is in the retracted position.

[0047] Figure 4 Another perspective view of the end effector 110 according to one or more embodiments is shown. Refer to Figure 4 , in the retracted position, the first end 354 of the gripper plate 306 may abut a step 341 defined on the vacuum plate 304. Further, in the retracted position, the first surface 358 of the gripper plate 306 may abut the fourth surface 331 of the vacuum plate 304. Further, in the retracted position, the third surface 329 of the vacuum plate 304 and the second surface 360 of the gripper plate 306 may be in the same plane such that the second surface 360 of the gripper plate 306 and the third surface 329 of the vacuum plate 304 define a continuous surface 364 of the end effector 110. Additionally, in the retracted position, the second set of vacuum cups 362 may be communicatively coupled to the second set of vacuum conduits 346. As described, in one embodiment, the first spring 352 and the second spring 353 are configured to hold the first extensible arm 350 and the second extensible arm 351 in the retracted position, and thus, the first spring 352 and the second spring 353 hold the gripper plate 306 in the retracted position.

[0048] Referring back to Figure 3 , in the extended position, the gripper plate 306 extends from the vacuum plate 304, and the second set of vacuum cups 362 is disengaged from the second set of vacuum conduits 346.

[0049] In an exemplary embodiment, the first set of vacuum conduits 344 and the second set of vacuum conduits 346 may be coupled to the third actuation unit 308. In some examples, the third actuation unit 308 may be positioned on the first surface 320 of the second arm 316. In some examples, the scope of the present disclosure is not limited to the third actuation unit 308 being positioned on the second arm 316. In an alternative embodiment, the third actuation unit 308 may be positioned on the first arm 314 or on the machine 100.

[0050] In an exemplary embodiment, the third actuation unit 308 includes a third motor 366 and a vacuum generator 368. In some examples, the third motor 366 may be coupled to the vacuum generator 368, and the vacuum generator 368 may be coupled to the first set of vacuum cups 342 and the second set of vacuum cups 362 via the first set of vacuum conduits 344 and the second set of vacuum conduits 346, respectively. In an exemplary embodiment, the third motor 366 may be configured to operate the vacuum generator 368, which in turn generates a vacuum (to create a negative pressure in a set of vacuum cups 362). Additionally, the third motor 366 is coupled to a first extensible arm 350 and a second extensible arm 351. In an exemplary embodiment, the third motor 366 is configured to apply an external force to the first extensible arm 350 and the second extensible arm 351. As a result, the lengths of the first extensible arm 350 and the second extensible arm 351 change. As the lengths of the first extensible arm 350 and the second extensible arm 351 change, the position of the gripper plate 306 changes. Thus, when an external force is applied from the third motor 366, the gripper plate 306 moves between an extended position and a retracted position.

[0051] Referring back to Figure 1 , the control system 112 is configured to control the operation of the machine 100. More specifically, as further described in connection with Figure 5 and Figure 6 , the control system 112 may be configured to control the operation of the first actuation unit 102, the second actuation unit 104, and the third actuation unit 308.

[0052] Figure 5 A block diagram of the control system 112 is shown in accordance with one or more embodiments. The control system 112 includes a processor 502, a memory device 504, an input / output (I / O) device interface unit 506, an image capture device 508, and an image processing unit 510. In an exemplary embodiment, the processor 502 is communicatively coupled to the memory device 504, the I / O device interface unit 506, the image processing unit 510, and the image capture device 508.

[0053] The processor 502 may be implemented as a device including one or more microprocessors with (a) accompanying digital signal processor(s), one or more processors without an accompanying digital signal processor, one or more coprocessors, one or more multi-core processors, one or more controllers, processing circuitry, one or more computers, various other processing elements (including integrated circuits such as, for example, an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA)), or some combination thereof. Thus, although shown as a single processor in Figure 5 , in an embodiment, the processor 502 may include multiple processors and signal processing modules. The multiple processors may be embodied on a single electronic device or may be distributed across multiple electronic devices that are collectively configured as the circuitry of the machine 100. The multiple processors may communicate operably with each other and may be collectively configured to perform one or more functions of the circuitry of the machine 100 as described herein. In an exemplary embodiment, the processor 502 may be configured to execute instructions stored in the memory device 504 or otherwise accessible to the processor 502. As described herein, when these instructions are run by the processor 502, they may cause the circuitry of the machine 100 to perform one or more functions.

[0054] Regardless of whether the processor 502 is configured by a hardware approach, by a firmware / software approach, or by a combination thereof, the processor may include an entity capable of performing operations in accordance with embodiments of the present disclosure while being correspondingly configured. Thus, for example, when the processor 502 is implemented as an ASIC, FPGA, etc., the processor 502 may include specially configured hardware for performing one or more of the operations described herein. Alternatively, as another example, when the processor 502 is implemented as a runner of instructions (such as may be stored in the memory device 504), the instructions may specially configure the processor 502 to perform one or more of the algorithms and operations described herein.

[0055] Thus, the processor 502 as used herein may refer to a programmable microprocessor, a microcomputer, or one or more multi-processor chips that may be configured by software instructions (applications) to perform various functions including the functions of the various embodiments described above. In some devices, multiple processors dedicated to wireless communication functions and one processor dedicated to running other applications may be provided. The software applications may be stored in internal memory before being accessed and loaded into the processor. The processor may include internal memory sufficient to store the application software instructions. In many devices, the internal memory may be volatile or non-volatile memory such as flash memory or a hybrid of both. The memory may also be internal to another computing resource (e.g., enabling computer-readable instructions to be downloaded via the Internet or another wired or wireless connection).

[0056] The memory device 504 may include suitable logic components, circuitry, and / or interfaces that are adapted to store a set of instructions that are executed by the processor 502 to perform operations. Some of the memory implementations include, but are not limited to, hard disks, random access memory, cache memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic tape cartridges, magnetic tapes, magnetic disk storage devices, or other magnetic storage devices, compact disc read-only memory (CD-ROM), digital versatile disc read-only memory (DVD-ROM), optical discs, circuitry configured to store information, or some combination thereof. In an implementation, without departing from the scope of the present disclosure, the memory device 504 may be integrated with the processor 502 on a single chip. In an exemplary implementation, the memory device 504 is configured to store a first set of prestored features and a second set of prestored features. In some examples, the first set of prestored features corresponds to unique features of a first type of package. Additionally, the second set of prestored features corresponds to unique features of a second type of package. In an exemplary implementation, the first set of prestored features and the second set of prestored features may correspond to scale-invariant feature transform (SIFT) descriptors, which are used to uniquely identify an object (e.g., a first type of package or a second type of package).

[0057] The I / O device interface unit 506 may include suitable logic components, circuitry, and / or interfaces that are adapted to transmit and receive information from one or more components of the machine 100 and the control system 112. For example, the I / O device interface unit 506 may be configured to send messages to / receive messages from the image capture device 508, the first actuator unit 102, the second actuator unit 104, and the third actuator unit 308. In an exemplary implementation, the I / O device interface unit 506 may be configured to communicate with one or more components according to one or more device communication protocols, such as but not limited to: I2C communication protocol, serial peripheral interface (SPI) communication protocol, serial communication protocol, controller area network (CAN) communication protocol, and 1-Wire ® communication protocol. Some examples of the input / output interface unit 306 may include, but are not limited to, data acquisition (DAQ) cards, power drive driver circuits, etc.

[0058] The image capture device 508 may correspond to an electronic device capable of generating an image based on optical signals received from a corresponding field of view of the image capture device 508. In some examples, the image capture device 508 may be configured to generate an image based on receiving optical signals in the visible light spectrum. The optical signals received by the image capture device 508 may correspond to light generated by a light source on the image capture device 508, may be ambient light, or may be from an external source. In an exemplary implementation, the image capture device 508 may include a depth sensor (not shown) configured to capture depth information of the field of view. Some exemplary depth sensors include, but are not limited to, structured light-based depth sensors, (infrared) IR-based depth sensors, time-of-flight-based depth sensors, and the like.

[0059] In an exemplary implementation, the image capture device 508 may further include a lens assembly (not shown) and a sensor assembly (not shown). The lens assembly may include one or more optical components, such as one or more lenses, diffusers, light wedges, reflectors, or any combination thereof, for directing the optical signals onto the sensor assembly. In an exemplary implementation, the sensor assembly includes an image sensor, such as a color or monochrome 1D or 3D CCD, CMOS, NMOS, PMOS, CID, or CMD solid-state image sensor, configured to generate an image based on the received optical signals.

[0060] The image processing unit 510 may include suitable logic components and circuitry that may enable the image processing unit 510 to process the images captured by the image capture device 508. For example, as Figure 6 Further described, the image processing unit 510 may be configured to identify the type of package (i.e., the first type of package or the second type of package) in the captured images. In some implementations, the image processing unit 510 may include a separate processor, a specially configured field programmable gate array (FPGA), or an application specific integrated circuit (ASIC).

[0061] In combination with Figure 6 and Figure 9 The operation of the control system 112 is further described.

[0062] Figure 6 and Figure 9 Illustrates an exemplary implementation according to the present invention by such as Figure 1 , Figure 2 and Figure 3Exemplary flowchart of operations performed by the apparatus of control system 112. It should be understood that each block in the flowchart, and combinations of blocks in the flowchart, can be implemented by various means such as hardware, firmware, one or more processors, circuits, and / or other devices associated with the execution of software including one or more computer program instructions. For example, one or more of the above processes can be embodied by computer program instructions. In this regard, the computer program instructions embodying the above processes can be stored by the memory of an apparatus employing an embodiment of the present invention and executed by a processor in the apparatus. It can be understood that any such computer program instructions can be loaded onto a computer or other programmable device (e.g., hardware) to produce a machine such that the resulting computer or other programmable device provides an implementation of the functions specified in one or more flowchart blocks. These computer program instructions can also be stored in a non-transitory computer-readable storage memory, which can direct a computer or other programmable device to operate in a particular manner, such that the instructions stored in the computer-readable storage memory produce an article of manufacture that executes functions implementable in one or more flowchart blocks. The computer program instructions can also be loaded onto a computer or other programmable device so as to cause a series of operations to be performed on the computer or other programmable device, thereby producing a computer-implemented method such that the instructions executed on the computer or other programmable device provide operations for implementing the functions specified in one or more flowchart blocks. Thus, Figure 6 and Figure 9 when the operations of are executed, transform a computer or processing circuit into a particular machine configured to execute exemplary embodiments of the present invention. Thus, Figure 6 and Figure 9 the operations of define algorithms for configuring one or more computers or processors to execute various exemplary embodiments. In some cases, an instance of a processor can be provided for a general-purpose computer, and the instance executes Figure 6 and Figure 9 the algorithms of to transform the general-purpose computer into a particular machine configured to execute exemplary embodiments.

[0063] Thus, the blocks in the flowchart support combinations of means for performing the specified functions and combinations of operations for performing the specified functions. It will also be understood that one or more blocks in the flowchart, and combinations of blocks in the flowchart, can be implemented by a dedicated computer system based on hardware that performs the specified functions or a combination of dedicated hardware and computer instructions.

[0064] Figure 6 FIG. 600 shows a flowchart of a method for operating machine 100 according to the description of one or more embodiments. The flowchart 600 has been described in connection with the accompanying Figures 1 to 5 description.

[0065] At step 602, control system 112 includes means for capturing an image of the field of view of image capture device 508, such as processor 502, I / O device interface unit 506, image processing unit 510, image capture device 508, etc. In an exemplary embodiment, processor 502 may be configured to cause I / O device interface unit 506 to send instructions to image capture device 508 to capture an image. Upon receiving the instructions, image capture device 508 may be configured to capture an image of the field of view. Additionally, image capture device 508 may be configured to capture depth information of the field of view of image capture device 508. When capturing the image and depth information, image capture device 508 may be configured to transmit the captured image and depth information to processor 502.

[0066] At step 604, control system 112 includes means for determining whether the captured image includes an image of a package to be picked and placed, such as processor 502, image processing unit 510, etc. In an exemplary embodiment, image processing unit 510 may be configured to use one or more object recognition techniques such as, but not limited to, Hough transform, Gabor filtering, convolutional neural network (CNN), scale invariant feature transform (SIFT), speeded up robust features (SURF), etc. to determine whether the captured image includes an image of a package. For example, image processing unit 510 may be configured to determine one or more unique features in the captured image by using SIFT technology. Then, image processing unit 510 may be configured to compare the determined one or more unique features with a first set of pre-stored features (corresponding to a first type of package) and a second set of pre-stored features (corresponding to a second type of package). If image processing unit 510 determines that the determined one or more unique features include a set of unique features that match the first set of pre-stored features or the second set of pre-stored features, then image processing unit 510 determines that the captured image includes an image of a package. Accordingly, processor 502 may be configured to perform step 606. However, if image processing unit 510 determines that the captured image does not include an image of a package, then processor 502 may be configured to repeat step 602.

[0067] At step 606, control system 112 includes means for determining the position of the package relative to machine 100, such as processor 502, image processing unit 510, etc. In an exemplary embodiment, processor 502 may utilize depth information captured by image capture device 508 to determine the position of the package relative to machine 100. For example, image processing unit 510 may be configured to determine a displacement measurement of the package relative to end effector 110 based on the depth information. Thereafter, image processing unit 510 may be configured to consider the current position of end effector 110 as the origin of a coordinate system (e.g., a Cartesian coordinate system). Based on the current position of end effector 110 and the determined displacement measurement, image processing unit 510 is configured to determine the position of the package relative to end effector 110. In an exemplary embodiment, the position of the package may correspond to the coordinates (x coordinate, y coordinate, and z coordinate) of the package in the coordinate system. In some examples, processor 502 may utilize one or more coordinate systems (e.g., a Cartesian coordinate system, a polar coordinate system, etc.) to determine the position of the package relative to end effector 110.

[0068] Thereafter, processor 502 may be configured to determine a first distance along a first axis 128 of vertical support member 108 and a second distance along longitudinal axis 134 that end effector 110 must traverse to pick up the package. In an exemplary embodiment, processor 502 may determine the first distance and the second distance based on the determined position of the package and the current position of end effector 110.

[0069] At step 608, control system 112 includes means for determining the type of package (e.g., a first type of package or a second type of package) within the field of view of image capture device 508, such as processor 502, image processing unit 510, etc. As described in step 604, image processing unit 510 is configured to compare the determined one or more unique features with a first set of pre-stored features and a second set of pre-stored features to determine whether an image of the package is present in the captured image. If, at step 604, image processing unit 510 determines that the determined one or more unique features include a set of unique features corresponding to or matching the first set of pre-stored features, then image processing unit 510 determines that the package within the field of view of image capture device 508 is a first type of package. Accordingly, processor 502 may be configured to execute step 610. On the other hand, if image processing unit 510 determines that the set of unique features corresponds to or matches the second set of pre-stored features, then image processing unit 510 determines that the package within the field of view of image capture device 508 is a second type of package. Accordingly, processor 502 executes step 614.

[0070] At step 610, the control system 112 includes means for moving the gripper plate 306 to a retracted position, such as the processor 502, the I / O device interface unit 506, etc. To move the gripper plate 306 to the retracted position, the I / O device interface unit 506 may cause the third actuating unit 308 (i.e., the third motor 366) to remove the external force applied to the first extensible arm 350 and the second extensible arm 351. When the external force from the first extensible arm 350 and the second extensible arm 351 is removed, the first extensible arm 350 and the second extensible arm 351 move to a retracted state (based on the forces applied by the first spring 352 and the second spring 353). Accordingly, the gripper plate 306 moves to the retracted position.

[0071] In addition, the I / O device interface unit 506 is configured to cause the third actuating unit 308 to generate a vacuum in the first set of vacuum cups 342 and the second set of vacuum cups 362. In an exemplary embodiment, the third actuating unit 308 may be configured to generate a vacuum in the first set of vacuum cups 342 and the second set of vacuum cups 362 using a vacuum generator 368.

[0072] At step 612, the control system 112 includes means for moving the end effector 110 to a position near the package, such as the processor 502, the I / O device interface unit 506, etc. To move the end effector 110 near the package, in an exemplary embodiment, the I / O device interface unit 506 may transmit an instruction to the first actuator unit 102 to move the machine 100 a first distance along the first axis 128. Upon receiving the instruction, the first actuator unit 102 may cause the first motor 116 to drive one or more traction members 114 on one or more first tracks 118. Accordingly, the machine 100 moves along the first axis 128. Since the end effector 110 is coupled to the machine 100, as the machine 100 moves, the end effector 110 also moves a first distance along the first axis 128. Subsequently, in some examples, the I / O device interface unit 506 may transmit another instruction to the second actuator unit 104 to move the end effector 110 a second distance (determined in step 606) along the longitudinal axis 134 of the vertical support member 108. Upon receiving the additional instruction, the second actuator unit 104 may cause the second motor 124 to rotate the sprocket 160. The rotation of the sprocket 160 causes the rack assembly 126 to move along the longitudinal axis 134 of the vertical support member 108. Accordingly, the end effector 110 moves along the longitudinal axis 134 of the vertical support member 108. In an exemplary embodiment, by moving the end effector 110 a first distance along the first axis 128 and a second distance along the longitudinal axis 134, the end effector 110 is positioned to be near or in contact with the package. In some examples, the I / O device interface unit 506 may be configured to operate both the first actuator unit 102 and the second actuator unit 104 simultaneously to move the end effector 110 to a position near the package.

[0073] Then, the package is attached to the end effector 110 by the first set of vacuum cups 342 and the second set of vacuum cups 362 (since at step 608, the processor 502 has caused the vacuum generator 368 to create a vacuum in the first set of vacuum cups 342 and the second set of vacuum cups 362).

[0074] At step 614, the control system 112 includes means for causing the first actuator unit 102 and the second actuator unit 104 to move the end effector 110 to a position near the package (based on the first distance and the second distance determined in step 606), such as the processor 502, the I / O device interface unit 506, etc. In an exemplary embodiment, the processor 502 may be configured to use a method similar to that described in step 610 to move the end effector 110 to a position near the package.

[0075] At step 616, the control system 112 includes means for moving the gripper plate 306 to an extended position, such as the processor 502, the I / O device interface unit 506, etc. In an exemplary embodiment, the I / O device interface unit 506 may be configured to transmit instructions to the third actuator unit 308 to move the gripper plate 306 to an extended position. Upon receiving the instructions, the third actuator unit 308 may be configured to activate the third motor 366, and the third motor applies an external force on the first extensible arm 350 and the second extensible arm 351 to move to an extended state. Accordingly, the gripper plate 306 moves to an extended position. In addition, the I / O device interface unit 506 may be configured to transmit another instruction to the third actuator unit 308 to disable the vacuum generator 368.

[0076] In the extended position, the gripper plate 306 engages one or more features defined on the surface of the package (since the package was determined to be a second type of package in step 608).

[0077] At step 618, the control system 112 includes means for removing the external force applied by the third motor 366 on the first extensible arm 350 and the second extensible arm 351, such as the processor 502, the I / O device interface unit 506, etc. When the external force is removed, the first extensible arm 350 and the second extensible arm 351 may attempt to move to a retracted state (based on the forces applied by the first spring 352 and the second spring 353). Since the gripper plate 306 engages one or more features on the surface of the package, the gripper plate 306 cannot move to a retracted position. Instead, the gripper plate 306 moves to an intermediate position defined by the width of the features of the package or the width of the package. In an exemplary embodiment, in the intermediate position, the package is clamped between the gripper plate 306 and the vacuum plate 304, and thus engages with the end effector 110.

[0078] In some examples, the scope of the present disclosure is not limited to deactivating the vacuum generator 368 when picking up a package of the second type of package. In an exemplary embodiment, the processor 502 may be configured to cause the vacuum generator 368 to generate a vacuum in the first set of vacuum cups 342. Accordingly, in addition to clamping the package between the gripper plate 306 and the vacuum plate 304, the first set of vacuum cups 342 also engages with the surface of the package of the second type of package.

[0079] Figure 7 A perspective view of the machine 100 with a first package 702 of the first type of package picked up is shown according to one or more embodiments. From Figure 7 It can be observed that the gripper plate 306 is in a retracted position. In addition, it can be observed that the first set of vacuum cups 342 and the second set of vacuum cups 362 engage with the surface of the first package 702.

[0080] Figure 8 A perspective view of a machine 100 with a second package 802 of a second type of package picked up is shown according to one or more embodiments. The second package 802 has features 804. From Figure 8 it can be observed that the gripper plate 306 is in an extended position and engages with the feature 804 on the surface of the second package 802. Additionally, from Figure 8 it can be observed that the second package 802 is clamped between the gripper plate 306 and the vacuum plate 304.

[0081] Figure 9 A flowchart 900 of a method for operating a machine 100 is shown according to one or more embodiments.

[0082] In step 902, the method includes determining the type of package to be picked up by the machine 100, where the type of package is at least one of a first type of package or a second type of package. Thereafter, in step 904, in response to determining that the type of package is a first type of package, the method includes moving the gripper plate 306 in the end effector 110 of the machine 100 to a retracted position, where in the retracted position, the gripper plate 306 is aligned with and adjacent to the vacuum plate 304 in the end effector 110. Subsequently, in step 906, the method includes actuating a first set of vacuum cups 342 on the vacuum plate 304 and a second set of vacuum cups 362 on the gripper plate 306 to pick up the package. Additionally, in step 908, in response to determining that the type of package is a second type of package, the method includes moving the gripper plate 306 in the end effector 110 of the machine 100 to an extended position, where in the extended position, the gripper plate 306 extends from the vacuum plate 304 to hold the second type of package between the gripper plate and the vacuum plate.

[0083] In some example embodiments, some of the operations herein may be modified or further amplified as described below. Additionally, in some embodiments, additional optional operations may also be included. It should be understood that each of the modifications, optional additions, or amplifications described herein may be included in the operations herein either individually or in combination with any other of the features described herein.

[0084] The foregoing method descriptions and process flow diagrams are provided only as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order presented. As will be understood by those skilled in the art, the order of the steps in the above embodiments may be performed in any order. Words such as "after", "then", "next", etc. are not intended to limit the order of the steps; these words are only used to guide the reader through the description of the method. Additionally, for example, any reference to a singular form of a claim element using the articles "a", "an", or "the" should not be construed as limiting the element to the singular.

[0085] The hardware for implementing the various illustrative logical components, logical blocks, modules, and circuits described in connection with the aspects disclosed herein may include a general-purpose processor, a digital signal processor (DSP), a dedicated processor such as an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA), programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, however, alternatively, the processor may be any processor, controller, or state machine. The processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Alternatively or in addition, some steps or methods may be performed by circuitry specific to a given function.

[0086] In one or more exemplary embodiments, the functions described herein may be implemented by dedicated hardware or by a combination of firmware or other software-programmed hardware. In an implementation that relies on firmware or other software, these functions may be performed due to the execution of one or more instructions stored on one or more non-transitory computer-readable media and / or one or more non-transitory processor-readable media. These instructions may be embodied by one or more processor-executable software modules residing on one or more non-transitory computer-readable or processor-readable storage media. In this regard, the non-transitory computer-readable or processor-readable storage media may include any storage media accessible by a computer or processor. By way of example and not limitation, such non-transitory computer-readable or processor-readable media may include RAM, ROM, EEPROM, flash memory, disk storage devices, magnetic storage devices, etc. As used herein, disk storage devices include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs ™, or other storage devices that store data magnetically or optically using lasers. Combinations of the above types of media are also included within the scope of the term non-transitory computer-readable and processor-readable media. Additionally, any combination of instructions stored on one or more non-transitory processor-readable or computer-readable media may be referred to herein as a computer program product.

[0087] Those skilled in the art to which the present invention pertains will envision many modifications of the present invention and other embodiments herein, having the benefit of the teachings presented in the foregoing description and the related drawings. Although the drawings only show certain components of the devices and systems described herein, it should be understood that various other components may be used in conjunction with the machines. Accordingly, it should be understood that the present invention is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the appended claims. Additionally, the steps in the above methods may not necessarily occur in the order depicted in the drawings, and in some cases, one or more of the depicted steps may occur substantially simultaneously, or may involve additional steps. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A machine, comprising: One or more belts; A shelf coupled to the one or more belts, wherein the one or more belts facilitate movement of the shelf along a first axis of the machine A substrate coupled to the shelf; and An end effector coupled to the substrate, wherein the substrate facilitates movement of the end effector along another axis perpendicular to the first axis, wherein the end effector comprises: A vacuum plate coupled to the substrate, the vacuum plate including a first set of vacuum cups, a first set of vacuum conduits, and a second set of vacuum conduits; and A gripper plate movably coupled to the substrate, wherein the gripper plate includes a second set of vacuum cups and is configured to move between a retracted position and an extended position, wherein, in the retracted position, the gripper plate is aligned with the vacuum plate such that the gripper plate abuts the vacuum plate to communicatively couple the second set of vacuum cups with the second set of vacuum conduits, thereby configuring the end effector to pick up and place a first package using the first set of vacuum cups positioned on the vacuum plate and the second set of vacuum cups positioned on the gripper plate, and wherein, in the extended position, the gripper plate extends from the vacuum plate to disengage the second set of vacuum cups from the second set of vacuum conduits, thereby configuring the end effector to grip and hold a second package between the gripper plate and the vacuum plate for picking up and placing the second package.

2. The machine according to claim 1, further comprising a motor, wherein, A motor is coupled to the gripper plate, and wherein the motor facilitates movement of the gripper plate between the extended position and the retracted position.

3. The machine according to claim 2, wherein, The gripper plate further includes one or more springs configured to urge the gripper plate to the retracted position.

4. The machine according to claim 2, wherein, The vacuum plate defines a first top surface, wherein the first set of vacuum cups are positioned on the first top surface of the vacuum plate.

5. The machine according to claim 4, wherein The gripper plate defines a second top surface, wherein, in the retracted position, the second top surface of the gripper plate is aligned with the first top surface of the vacuum plate to define a continuous top surface of the end effector.

6. The machine according to claim 2, wherein The second set of vacuum cups are positioned on a first top surface of the gripper plate.

7. The machine according to claim 6, wherein The end effector is configured to pick up and place the first package using the first set of vacuum cups and the second set of vacuum cups.

8. The machine according to claim 2, wherein The end effector is configured to pick up and place the second package using the gripper plate, wherein the second package is held between the gripper plate and the vacuum plate.

9. A method for operating a machine, the method comprising: Determining the type of package to be picked up by the machine, wherein the type of package is at least one of a first package or a second package; In response to determining that the type of the package is the first package, the gripper plate in the end effector of the machine is moved to a retracted position, wherein, in the retracted position, the gripper plate is aligned with and adjacent to the vacuum plate in the end effector so that a second set of vacuum cups positioned on the gripper plate is communicatively coupled to a second set of vacuum conduits defined on the vacuum plate, thereby configuring the end effector to pick up and place the first package using a first set of vacuum cups positioned on the vacuum plate and the second set of vacuum cups positioned on the gripper plate; In response to determining that the type of the package is the second package, the gripper plate in the end effector of the machine is moved to an extended position, wherein, in the extended position, the gripper plate extends from the vacuum plate so that the second set of vacuum cups is disengaged from the second set of vacuum conduits, thereby configuring the end effector to grip and hold the second package between the gripper plate and the vacuum plate for picking up and placing the second package.

10. The method according to claim 9, further comprising capturing an image of the package to determine the type of the package.

11. The method according to claim 10, further comprising comparing the image of the package with known images of the first package and the second package to determine the type of the package.

12. The method according to claim 9, further comprising applying a force on the gripper plate to move the gripper plate to the extended position.

13. The method according to claim 12, further comprising removing the force applied to the gripper plate, wherein, When the force is removed, the gripper plate moves to the retracted position based on another force applied by a spring on the gripper plate.

Images