Systems and methods for effectively moving various objects

Abstract

A programmable motion system is disclosed, comprising a dynamic end effector system. The dynamic end effector system includes an end effector coupled to the programmable motion system via a dynamic coupler, wherein the dynamic coupler allows at least a portion of the end effector to rotate relative to another portion of the end effector.

Description

[0001] This application is a divisional application of application number 201880016699.7, filed on March 5, 2018, entitled "System and method for effectively moving various objects".

[0002] Related applications

[0003] This application claims priority to U.S. Provisional Patent Application Serial No. 62 / 467,509, filed March 6, 2017, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0004] This invention generally relates to programmable motion systems, and more particularly to end effectors for programmable motion devices (e.g., robotic systems) used for object processing such as object classification. Background Technology

[0005] For example, end effectors used in robotic systems can be used in some applications to select and grasp objects, and then move the acquired objects to a new location very quickly. End effectors designed to firmly grasp objects during movement may have limitations regarding how quickly and easily they can select and grasp objects from a jumble of different objects. Conversely, end effectors that can quickly and easily grasp selected objects from a jumble of different objects may have limitations regarding how firmly they grasp the acquired object during rapid movement, especially during rapid acceleration and deceleration (both angular and linear). Although motion systems can employ any grasping pattern, it sometimes happens, for example, that an object is lifted from a point where it ends up with an unbalanced load on the end effector. This can occur, for example, if the object has an uneven weight distribution that is not visually apparent from the object.

[0006] Many end effectors use vacuum pressure to acquire and hold objects for transport via articulated arms or subsequent operations. Other techniques for acquiring and holding objects include electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabrics, fingers for squeezing objects, hooks for hooking and lifting protruding parts of objects, and chucks that expand in openings within objects. Typically, end effectors are designed as a single tool, such as a clamp, welding machine, or paint sprayer, and this tool is usually designed to meet a specific need.

[0007] However, there is still a need for an end effector in a programmable motion system that can select and grasp any one of a wide variety of objects, and then move the grasped object to a new position very quickly when the initial grip presents an unbalanced load. Summary of the Invention

[0008] According to an embodiment, the present invention provides a programmable motion system including a dynamic end effector system. The dynamic end effector system includes an end effector coupled to the programmable motion system via a dynamic coupler, wherein the dynamic coupler is configured such that at least a portion of the end effector is rotatable relative to another portion of the end effector.

[0009] According to another embodiment, the present invention provides a programmable motion system including a dynamic end effector system, the dynamic end effector system including an end effector having a first part connected to the programmable motion system and a second part connected to the first part via a dynamic coupling, such that the second part of the end effector can rotate relative to the first part of the end effector under the load of an object held.

[0010] According to another embodiment, the present invention provides a method for providing a programmable motion system, the programmable motion system including a dynamic end effector system for grasping and moving an object. The method includes the steps of: providing a dynamic end effector including a first portion coupled to the programmable motion system and a second portion coupled to the first portion via a dynamic connector; obtaining an object; and allowing the second portion of the end effector to rotate relative to the first portion of the end effector under the load of the held object. Attached Figure Description

[0011] The following description can be further understood with reference to the accompanying drawings, in which:

[0012] Figure 1 An illustrative schematic diagram of a programmable motion system according to an embodiment of the present invention is shown;

[0013] Figure 2 An illustrative schematic diagram of a dynamic end effector system according to an embodiment of the present invention is shown;

[0014] Figure 3 It shows Figure 2 An illustrative diagram of the exploded view of a dynamic end effector system;

[0015] Figures 4A-4H Illustrative schematic diagrams of rotary bearing systems for dynamic end effector systems of the present invention are shown in various embodiments.

[0016] Figure 5 An illustrative schematic diagram of a dynamic end effector system according to another embodiment of the present invention is shown;

[0017] Figure 6 An illustrative schematic end view of a dynamic end effector system according to another embodiment of the present invention is shown;

[0018] Figure 7 It shows Figure 6 A schematic side sectional view of the dynamic end effector system, taken along line 7-7;

[0019] Figures 8A-8D An illustrative schematic diagram is shown of different stages of a dynamic end effector system according to an embodiment of the present invention, including gripping, lifting and allowing the load on the end effector to rotate.

[0020] Figure 9A and 9B An illustrative schematic diagram of a dynamic end effector system according to another embodiment of the present invention is shown at different stages allowing rotation of the load on the end effector; and

[0021] Figure 10 An illustrative schematic diagram of a portion of a dynamic end effector system according to a further embodiment of the present invention is shown.

[0022] The accompanying drawings are for illustrative purposes only. Detailed Implementation

[0023] If the object being grasped and lifted has an uneven weight distribution, especially if it is not visually apparent, the object is more likely to detach from the end effector during movement. While some solutions may involve returning the object to its original position and repositioning the end effector onto it, these steps are time-consuming. Other systems may use motion planning systems (e.g., robotic systems) to move the end effector and object together to a location where the load on the end effector is being reduced; however, such systems typically require sophisticated sensor systems to quickly detect when the load is unbalanced and when it is balanced.

[0024] According to several embodiments, the present invention provides a programmable motion system including a dynamic end effector system. The dynamic end effector system includes an end effector coupled to the programmable motion system via a dynamic coupling, wherein the dynamic coupling allows the end effector to rotate freely relative to the programmable motion system. For example, the end effector can rotate relative to the programmable motion system under the load of a held object and without the assistance of any active motors connected to the programmable motion system.

[0025] For example, Figure 1 A programmable motion system 10 according to an embodiment of the present invention is shown, which includes a robot system having a base 12, an articulated arm portion 14, and a dynamic end effector system 11, the dynamic end effector system 11 including an attached end effector 18. Figure 2As further shown, the dynamic end effector system 11 can be attached to the articulated arm 14 of the programmable motion system 10 by means of an attachment mechanism 20, such as a thread, a spring retainer buckle, or a spring-loaded attachment member such as a ball-and-socket device. According to various embodiments of the invention, the dynamic end effector system includes a rotary bearing system and a second portion 16, which is rotatably connected to the first portion 22 (which remains fixed relative to the attachment mechanism 20 attached to the articulated arm), and the second portion 16 allows rotation relative to the first portion 22.

[0026] Specifically, the second portion 16 of the dynamic end effector system 11 can rotate as shown in A, and in some embodiments, even if the first portion 22 of the dynamic end effector system rotates in the opposite direction as shown in B, the second portion can rotate freely relative to the first portion 22 of the dynamic end effector system. When the second portion 16 of the dynamic end effector system rotates, the end effector 18, which is connected to the lower part of the dynamic end effector system via a shaft 24, which can, for example, provide a vacuum source to the end effector 18.

[0027] refer to Figure 3 The first portion 22 and the second portion 16 of the end effector system 11 can be connected together via a rotary bearing system 28, which may include, for example, any radial deep groove ball bearing, four-contact ball bearing, tapered roller bearing pair, cylindrical roller bearing, or solid bushing, etc. The rotary bearing system 28 may include a bearing 30 and a post 26, such as that on the first portion 22, attached at its interior 27, such that the lower interior portion 32 of the dynamic end effector system 16 can be connected to the exterior 29 of the rotary bearing system 28. The end effector portion 16 can rotate freely and continuously relative to the end effector portion 22, or, in some embodiments discussed below, may include linear or nonlinear damping.

[0028] refer to Figures 4A-4H In various embodiments, the rotary bearing system 28 can take many forms. For example, and refer to Figure 4A The system can be provided by a solid bushing 34 surrounding shaft 35. The end effector's suction cup is fixed to the outside of the bushing, and the rotating suction cup can be connected in the same position to the shaft shown in the figure. This coupling is relatively inexpensive but has higher friction and failure-matching than other types of bearings. This solid bushing also wears faster than roller bearings. However, under the minimum load provided in the embodiments of the invention, this bearing can last for a sufficient amount of time for most systems of the invention.

[0029] refer to Figure 4BThis system can be supplied with a deep groove radial bearing, which includes a ball bearing 36 within a groove 37. The suction tube of the end effector is fixed to the outside of the bushing, and the rotating suction cup is connected to the inside of the bearing. This deep groove radial bearing design is effective and simple, but is generally not used for axial loads (such as those applied via a load on the suction cup). However, this bearing has a sufficient inner diameter (approximately 1.5 inches) to clear airflow, and may be sufficient even under non-ideal axial load arrangements, with sufficiently high maximum loads. Reference Figure 4C The system can be provided by four point-contact bearings, which include ball bearings 38 within point-contact surfaces 39. A suction tube is fixed to the outside of the bearings, and a rotating suction cup is connected to the inside of the bearings. While such bearings may be relatively expensive, they are specifically designed for combinations of radial and axial loads.

[0030] refer to Figure 4D The system can be provided by a cylindrical bearing 40 surrounding a shaft 41, wherein the cylinder bearing 40 includes cylinder rollers 42. (Reference) Figure 4E The system can be provided by cylindrical bearings comprising cylindrical rollers 42' surrounding shaft 41. Because the cylinder cylinder can slide freely (rather than roll) along its own axis, this thrust (axial) plus radial configuration of the cylindrical bearing provides different configurations of the cylindrical bearing that may be necessary to handle loads in both the axial and radial directions. In various embodiments, this bearing combination may be necessary to handle both radial and axial loads. The suction tube is fixed to the plate shown at 43, and the rotating suction cup is connected to the shaft in the same position, as... Figure 4E As shown.

[0031] refer to Figure 4F and 4G The system can be provided by a pair of tapered roller bearings 44 surrounding shaft 41. The tapered roller bearing pair can accept a combination of radial and lateral loads in a specific direction. Therefore, to fully limit the output, these bearing pairs are needed to handle loads in all possible directions. The suction cup is fixed to the plate shown at 45, and the rotating suction cup is connected to the shaft in the same position, as... Figure 4G As shown.

[0032] refer to Figure 4H The system can be provided by a bearing structure 47 surrounding shaft 41, wherein the bearing structure includes a suction cup 48, and the bearing structure 47 is connected to a motor 49 via a driver 46 and a belt. The motor 49 is connected to the moving side of the suction cup via a drive belt and can be used to provide damping force for the rotational motion.

[0033] refer to Figure 5According to one embodiment, a rotary bearing system may include a cylindrical bearing system 50, which includes a cylindrical bearing 52 and a post 26 that can be connected at an inner ring opening 54 to a first portion 22 of an end effector system, the system being attached to a programmable motion device via an attachment mechanism 20. Similarly, and similarly... Figure 3 In this embodiment, a cylindrical bearing 50 can be provided such that the inner ring opening 54 is connected to the rotary bearing system 20, while the outer portion 56 is connected to the inner portion 32 of the second portion 16 of the dynamic end effector system 11.

[0034] According to another embodiment of the present invention, Figure 6 and Figure 7 End and side views of a dynamic end effector system are shown respectively; the dynamic end effector system 60 includes an end effector bellows 62 with an opening 64, which provides a vacuum through the opening 64 to grip an object. The dynamic end effector system 60 may also include a sensing unit, such as a camera or scanner for inspecting the input area and the object being gripped, as in some embodiments. Figure 7 As further shown, the dynamic end effector system also includes a lower part 66, which is connected to the upper part 68 (which is connected to a programmable motion device) via a rotary bearing 70. As described above, the rotary bearing 70 allows the lower part 66 to rotate freely relative to the upper part 68.

[0035] During use, the end effector portion of the dynamic end effector system can be allowed to rotate to balance the load. For example, Figure 8A An exemplary illustration shows a dynamic end effector system 80 of any of the above-disclosed embodiments, which approaches an object 82 such that an end effector 84 (e.g., a vacuum end effector) attracts the object (such as...). Figure 8B As shown). Figure 8C As shown, when the object is initially lifted (e.g., at the angle shown), object 82 and end effector 84... Figure 8D The C in the diagram rotates freely. In this way, there is less weight (or center of mass) above the end effector 84, and the load on the object becomes less unbalanced.

[0036] Similarly, Figure 9A and 9B A dynamic end effector system 90 of any of the above-disclosed embodiments is shown approaching an object 92, such that an end effector 94 (e.g., a pair of gripper end effectors) grasps the object. Figure 9A As shown, when the object is initially lifted (e.g., at the angle shown), object 92 and end effector 94... Figure 9BAs shown in Figure D, it rotates freely. In this way, there is not as much weight (or center of mass) above the end effector 94, and the load on the object becomes less unbalanced.

[0037] According to another embodiment of the system, the dynamic rotation described above can be provided, and the system may further include a damping source 100 to prevent the end effector from rotating without constraint. For example, the system may include a portion of a shaft 102 comprising a magnetic core partially surrounded by a wound coil 104. When the shaft rotates, the coil generates electricity, and the rotational feedback force provided by the system 100 will effectively suppress the rotational movement of the shaft 102 non-linearly. In a further embodiment, linear damping may be provided. Furthermore, if desired, a controller 106 may be connected to the coils so that they can drive, for example, the shaft back to a desired position after movement. Additionally, a position sensor 108 may be employed so that the system can continuously monitor the position of the shaft.

[0038] Those skilled in the art will understand that various modifications and variations can be made to the embodiments disclosed above without departing from the spirit and scope of the invention.

Claims

1. A method for providing a programmable motion device for grasping and moving objects, the method comprising the steps of: A dynamic end effector system for a programmable motion device is provided, the dynamic end effector system comprising: The system comprises a first part, a second part, and a vacuum end effector, the vacuum end effector extending from the second part. The first part is fixedly coupled to a programmable motion device, while the second part is rotatably coupled to the first part of a dynamic end effector system via a dynamic coupling. The dynamic connector includes a rotary bearing configured to rotatably connect a second part of the dynamic end effector system to a first part of the dynamic end effector system. Get the object; The second part and the vacuum end effector are allowed to rotate freely 360 degrees relative to the first part in response to an unbalanced load on an object gripped by the vacuum end effector. The vacuum end effector includes an end effector opening at its gripping end, through which vacuum pressure is provided to grip the object. The first part includes a first part shaft inside, and the second part includes a second part shaft inside, wherein the first part shaft and the second part shaft are collinear, and vacuum pressure is provided to the vacuum end effector through the first part shaft and the second part shaft.

2. The method according to claim 1, wherein, The rotating bearing of the dynamic connector includes a radial deep groove ball bearing.

3. The method according to claim 1, wherein, The vacuum end effector includes a flexible bellows.

4. The method according to claim 1, wherein, The end effector opening is connected to a vacuum source located away from the vacuum end effector.

5. The method according to claim 1, wherein, The dynamic connector includes a damping source for providing a damping force that prevents the second part of the dynamic end effector system from rotating relative to the first part of the dynamic end effector system.

6. The method according to claim 5, wherein, The damping source is also configured to actively control the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

7. The method according to claim 1, wherein, The dynamic end effector system also includes a position detection system for monitoring the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

8. The method according to claim 1, wherein, The rotary bearing of the dynamic connector includes a four-contact ball bearing.

9. The method according to claim 1, wherein, The rotating bearing of the dynamic connector includes a pair of tapered roller bearings.

10. The method according to claim 1, wherein, The rotating bearing of the dynamic connector includes a cylindrical roller bearing.

11. The method according to claim 1, wherein, The rotating bearing of the dynamic connector includes a solid bushing.

12. The method according to claim 1, wherein, The vacuum end effector includes a vacuum suction cup, which is connected to a second shaft.

13. A method for providing a programmable motion device for grasping and moving objects, the method comprising the steps of: A dynamic end effector system for a programmable motion device is provided, the dynamic end effector system comprising: A first part, a second part, and a vacuum end effector, the end effector extending from the second part, wherein the first part is fixedly coupled to a programmable motion device, and the second part is rotatably coupled to the first part of a dynamic end effector system via a dynamic coupling. The dynamic coupling includes any one of radial deep groove ball bearings, four-contact ball bearings, tapered roller bearing pairs, cylindrical roller bearings, or solid bushings, configured to rotatably connect the second part of the dynamic end effector system to the first part of the dynamic end effector system. Get the object; The second part and the vacuum end effector are allowed to rotate freely 360 degrees relative to the first part without any active motor, in response to an unbalanced load on an object gripped by the vacuum end effector. The vacuum end effector includes an end effector opening at its gripping end, through which vacuum pressure is provided to grip the object. The first part includes a first part shaft inside, and the second part includes a second part shaft inside, wherein the first part shaft and the second part shaft are collinear, and vacuum pressure is provided to the vacuum end effector through the first part shaft and the second part shaft.

14. The method according to claim 13, wherein, The vacuum end effector includes a flexible bellows.

15. The method according to claim 13, wherein, The end effector opening is connected to a vacuum source located away from the vacuum end effector.

16. The method according to claim 13, wherein, The dynamic coupling includes a radial deep groove ball bearing connected to the second portion of the shaft.

17. The method according to claim 13, wherein, The dynamic connector includes a four-contact ball bearing connected to the second part of the shaft.

18. The method according to claim 13, wherein, The dynamic coupling includes a pair of tapered roller bearings connected to the second portion of the shaft.

19. The method according to claim 13, wherein, The dynamic coupling includes a cylindrical roller bearing connected to the second portion of the shaft.

20. The method according to claim 13, wherein, The dynamic connector includes a solid bushing connected to the second portion of the shaft.

21. The method according to claim 13, wherein, The vacuum end effector includes a vacuum suction cup, which is connected to a second shaft.

22. The method according to claim 13, wherein, The dynamic connector includes a damping source for providing a damping force that prevents the second part of the dynamic end effector system from rotating relative to the first part of the dynamic end effector system.

23. The method according to claim 22, wherein, The damping source is also configured to actively control the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

24. The method according to claim 13, wherein, The dynamic end effector system also includes a position detection system for monitoring the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

25. A method for providing a programmable motion device for grasping and moving an object, the method comprising the steps of: A dynamic end effector system for a programmable motion device is provided, the dynamic end effector system comprising: A first part, a second part, and a vacuum end effector, the vacuum end effector extending from the second part, wherein the first part is fixedly coupled to a programmable motion device, and the second part is rotatably coupled to the first part of a dynamic end effector system via a dynamic coupling. The dynamic connector is configured to rotatably connect the second part of the dynamic end effector system to the first part of the dynamic end effector system. Get the object; The second part and the vacuum end effector are allowed to rotate freely 360 degrees relative to the first part without any active motor, in response to an unbalanced load on an object gripped by the vacuum end effector. The vacuum end effector includes an end effector opening at its gripping end, through which vacuum pressure is provided to grip the object. The device comprises a first part including a first-part shaft and a second part including a second-part shaft, wherein the first-part shaft and the second-part shaft are collinear, and vacuum pressure is supplied to the vacuum end effector through the first-part shaft and the second-part shaft. Furthermore, the dynamic coupling includes a damping source for providing a damping force that prevents the second part of the dynamic end effector system from rotating relative to the first part of the dynamic end effector system.

26. The method according to claim 25, wherein, The dynamic connector includes a rotary bearing.

27. The method according to claim 25, wherein, The dynamic coupling includes a radial deep groove ball bearing.

28. The method according to claim 25, wherein, The dynamic connector includes a four-contact ball bearing.

29. The method according to claim 25, wherein, The dynamic coupling includes a pair of tapered roller bearings.

30. The method according to claim 25, wherein, The dynamic coupling includes cylindrical roller bearings.

31. The method according to claim 25, wherein, The dynamic connector includes a solid bushing.

32. The method according to claim 25, wherein, The vacuum end effector includes a flexible bellows.

33. The method according to claim 25, wherein, The end effector opening is connected to a vacuum source located away from the vacuum end effector.

34. The method according to claim 25, wherein, The vacuum end effector includes a vacuum suction cup, which is connected to a second shaft.

35. The method according to claim 25, wherein, The damping source is also configured to actively control the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

36. The method according to claim 25, wherein, The dynamic end effector system also includes a position detection system for monitoring the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

37. A method for providing a programmable motion device for grasping and moving objects, the method comprising the steps of: A dynamic end effector system for a programmable motion device is provided, the dynamic end effector system comprising: A first part, a second part, and a vacuum end effector, the vacuum end effector extending from the second part, wherein the first part is fixedly coupled to a programmable motion device, and the second part is rotatably coupled to the first part of a dynamic end effector system via a dynamic coupling. The dynamic connector is configured to rotatably connect the second part of the dynamic end effector system to the first part of the dynamic end effector system. Get the object; The second part and the vacuum end effector are allowed to rotate freely 360 degrees relative to the first part without any active motor, in response to an unbalanced load on an object gripped by the vacuum end effector. The vacuum end effector includes an end effector opening at its gripping end, through which vacuum pressure is provided to grip the object. The first part includes a first-part shaft inside it, and the second part includes a second-part shaft inside it, with the first and second part shafts collinear. Vacuum pressure is supplied to the vacuum end effector via the first and second part shafts. The dynamic end effector system further includes a position detection system, which is used to monitor the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

38. The method according to claim 37, wherein, The dynamic connector includes a rotary bearing.

39. The method according to claim 37, wherein, The dynamic coupling includes a radial deep groove ball bearing.

40. The method of claim 37, wherein, The dynamic connector includes a four-contact ball bearing.

41. The method according to claim 37, wherein, The dynamic coupling includes a pair of tapered roller bearings.

42. The method according to claim 37, wherein, The dynamic coupling includes cylindrical roller bearings.

43. The method according to claim 37, wherein, The dynamic connector includes a solid bushing.

44. The method of claim 37, wherein, The vacuum end effector includes a flexible bellows.

45. The method of claim 37, wherein, The end effector opening is connected to a vacuum source located away from the vacuum end effector.

46. ​​The method of claim 37, wherein, The vacuum end effector includes a vacuum suction cup, which is connected to a second shaft.

47. The method of claim 37, wherein, The dynamic connector includes a damping source for providing a damping force that prevents the second part of the dynamic end effector system from rotating relative to the first part of the dynamic end effector system.

48. The method according to claim 47, wherein, The damping source is also configured to actively control the rotational position of the second part of the dynamic end effector system relative to the first part of the dynamic end effector system.

49. A method of providing a programmable motion device for grasping and moving an object, wherein the programmable motion device is an articulated arm, the method comprising the steps of: A dynamic end effector system is provided for connecting an end effector to an articulated arm, the dynamic end effector system comprising: The first connecting portion has an arm attachment area that rigidly connects the first connecting portion to the articulated arm. Vacuum end effector; and The second connecting part rotatably connects the vacuum end effector to the first connecting part; Get the object; This allows the vacuum end effector to rotate freely 360 degrees around a rotation axis without constraint or active control in response to an unbalanced load on an object held by the vacuum end effector. The vacuum end effector defines an end effector opening at its gripping end, through which a vacuum is provided to grip the object. A first connecting portion has a first partial opening at its center, a second connecting portion has a second partial opening at its center, and a vacuum is provided along a path through the first and second partial openings to the end effector opening.

50. The method according to claim 49, wherein, The vacuum end effector includes a bellows extending along a longitudinal axis, wherein the longitudinal axis is parallel to the axis of rotation.

51. The method according to claim 49, wherein, The end effector opening is located at the center of the gripping end of the vacuum end effector, and a vacuum is provided through the end effector opening to grip the object.

52. The method according to claim 51, wherein, The first opening and the second opening are located at the center relative to each of the first connecting portion and the second connecting portion, respectively.

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