Devices, Systems, and Methods for Grabbing Objects

Abstract

The present disclosure provides an apparatus and system for enhancing the ability to grasp or engage an object using an auxiliary tool. Methods for increasing the capabilities of a tool can include: coupling an auxiliary tool to the tool, where the tool includes a first vacuum chuck and the auxiliary tool includes one or more second vacuum chucks; securing the tool to the auxiliary tool with a securing mechanism; evacuating a vacuum through the first vacuum chuck, where a vacuum is evacuated through the one or more second vacuum chucks in response to evacuating the vacuum through the first vacuum chuck when the auxiliary tool is coupled to the tool; and grasping the object with the one or more second vacuum chucks in response to evacuating the vacuum through the one or more second vacuum chucks and the one or more second vacuum chucks engaging the surface of the object.

Description

Technical Field

[0001] Embodiments of the present disclosure generally relate to grasping and advancing objects in an environment, and more particularly, to using an auxiliary tool to increase the ability to grasp or engage an object, the auxiliary tool being attachable and detachable from the tool without a docking station or mechanical lock. Background Art

[0002] Removing and moving objects within an environment is a common practice, which can often be time-consuming and error-prone, especially when performed manually. Automation of the removal and movement of objects within an environment can improve the efficiency and accuracy of operations. The cost of automatically removing and moving objects within an environment can be high, and if the process is not frequent enough, or if the risk associated with errors is low, the cost of automation may be unjustified.

[0003] Various methods of grasping an object can be used to perform the grasping and transportation of an object in a variety of ways. However, a method of grasping a first product of a first size or weight may not be well-suited for grasping a second product of a second size or weight. Using different grasping methods or grasping tools may increase costs and may increase the complexity of the removal and transportation system. Summary of the Invention

[0004] Embodiments of the present disclosure may provide an auxiliary tool including: an auxiliary tool body defining a receiver on a first side and defining a manifold within the auxiliary tool body, wherein a first opening of the manifold is defined within the receiver and one or more second openings of the manifold are defined within a second side of the auxiliary tool body opposite the first side; one or more second vacuum suction cups attached to the second side of the auxiliary body, wherein each of the one or more second vacuum suction cups is in fluid communication with a corresponding second opening; and a fixing mechanism within the receiver, wherein in response to a tool received within the receiver and a first vacuum suction cup of the tool engaging the first opening, the fixing mechanism fixes the tool within the receiver. The fixing mechanism of the exemplary embodiment is capable of separating the auxiliary tool from the tool in response to a separation force between the tool and the receiver being higher than a predefined value, and wherein the predefined value is greater than the weight of the tool.

[0005] In response to a first vacuum chuck of a tool being attached to a first opening and a vacuum being drawn, a vacuum is drawn through each of one or more second vacuum chucks of an auxiliary tool. The first vacuum chuck of the tool may define a first contact area, wherein one or more second vacuum chucks attached to the auxiliary tool body define a second contact area, wherein the second contact area is the sum of the contact areas of each of the one or more second vacuum chucks attached to the auxiliary tool, and wherein the second contact area is greater than the first contact area. One or more second vacuum chucks of the auxiliary tool may be configured to attach to an object with an auxiliary tool engagement force in response to the first vacuum chuck of the tool engaging the first opening and a vacuum of a first pressure being drawn through the first vacuum chuck of the tool when the one or more second vacuum chucks of the auxiliary tool are in contact with the object. The auxiliary tool engagement force may be greater than the force with which the vacuum chuck of the tool can engage the object when drawing a vacuum of the first pressure.

[0006] According to an example embodiment, a fixing mechanism may include an inclined spring disposed within a receiver and complementary grooves in the tool, wherein in response to the tool being received within the receiver, the inclined spring engages the grooves. The fixing mechanism may include at least one magnet, wherein the at least one magnet provides an engagement between the tool and the receiver in response to the tool being received within the receiver. The fixing mechanism provides a fixing force between the tool and the receiver of the auxiliary tool body. The tool may be detached from the receiver in response to: an engagement surface of one or more second vacuum chucks of the auxiliary tool; a suction engagement between the one or more second vacuum chucks of the auxiliary tool and a surface caused by a vacuum of a first pressure being drawn on the first vacuum chuck of the tool; and pulling the tool out of the receiver with a force greater than the fixing force. The fixing force is lower than the engagement force between the one or more second vacuum chucks of the auxiliary tool and the surface.

[0007] Embodiments provided herein include a system for increasing the capabilities of a tool, the system including: a tool having a tool body and a first vacuum chuck extending from a front end of the tool body; an auxiliary tool having an auxiliary tool body defining a receiver on a first side and a manifold within the auxiliary tool body, wherein a first opening of the manifold is defined within the receiver and one or more second openings of the manifold are defined within a second side of the auxiliary tool body opposite the first side; one or more second vacuum chucks attached to the second side of the auxiliary tool body, wherein each of the one or more second vacuum chucks is in fluid communication with a corresponding second opening; and a fixing mechanism for fixing the tool to the auxiliary tool, wherein in response to the front end of the tool body being received within the receiver, the fixing mechanism fixes the auxiliary tool to the tool body with a fixing force.

[0008] In response to a separation force between the tool and the auxiliary tool being higher than a predefined value, the tool and the auxiliary tool are separable, where the predefined value is greater than the weight of the auxiliary tool. The embodiment optionally includes a vacuum source, where in response to the tool engaging the auxiliary tool, a first vacuum suction cup engages a first opening of the manifold and the vacuum source draws a vacuum through the first vacuum suction cup and through one or more second vacuum suction cups. The first vacuum suction cup may define a first engagement area, where the one or more second vacuum suction cups define a second engagement area greater than the first engagement area, and where the lifting capacity of the one or more second vacuum suction cups is greater than the lifting capacity of the first vacuum suction cup. The first vacuum suction cup has a first lifting capacity, where the one or more second vacuum suction cups have a second lifting capacity, where the second lifting capacity is the sum of a fixed force and the first lifting capacity. The one or more second vacuum suction cups have an engagement capacity, whereby the one or more second vacuum suction cups engage a surface, and where the engagement capacity is greater than the second lifting capacity.

[0009] Embodiments provided herein include a method of increasing the capabilities of a tool, the method including: engaging an auxiliary tool with the tool, where the tool includes a first vacuum suction cup and the auxiliary tool includes one or more second vacuum suction cups; fixing the tool to the auxiliary tool with a fixing mechanism; drawing a vacuum through the first vacuum suction cup, where a vacuum is drawn through the one or more second vacuum suction cups in response to drawing a vacuum through the first vacuum suction cup when the auxiliary tool is engaged with the tool; and grasping an object with the one or more second vacuum suction cups in response to drawing a vacuum through the one or more second vacuum suction cups and the one or more second vacuum suction cups engaging the surface of the object.

[0010] Fixing the tool to the auxiliary tool with a fixing mechanism may include fixing the tool to the auxiliary tool with a fixing force, where in response to pulling the tool relative to the auxiliary tool with a force greater than the fixing force, the tool is separable from the auxiliary tool. The method may include: removing the auxiliary tool from the tool by: engaging a fixed surface with an engagement force in response to drawing a vacuum through the one or more second vacuum suction cups and causing the one or more second vacuum suction cups to contact the fixed surface; and moving the tool away from the fixed surface with a force greater than the fixing force, where the decoupling force is greater than the weight of the auxiliary tool and less than the engagement force.

[0011] The embodiments provided herein include a detachable auxiliary tool for grasping an object, the detachable auxiliary tool including: an auxiliary tool body defining a first end and a second end, the first end and the second end defining a passage therethrough and adapted to be temporarily coupled to the front end of a main tool, wherein the first end of the auxiliary tool body is adapted to interface with the front end of the main tool, wherein the second end of the auxiliary tool body includes one or more vacuum suction cups adapted to firmly hold the object and displace the object from an object starting point to an object destination, and wherein the auxiliary tool is adapted to decouple from the main tool at any horizontal surface.

[0012] In response to the auxiliary tool being coupled to the first end of the main tool, the main tool of the exemplary embodiment is fluidly connected to one or more vacuum suction cups of the auxiliary tool. The auxiliary tool may be adapted to be temporarily coupled to the front end of the main tool using a fixing mechanism, wherein the fixing mechanism provides a frictional engagement between the auxiliary tool and the main tool. The auxiliary tool may be adapted to decouple from the main tool at any horizontal surface in response to evacuating a vacuum through one or more vacuum suction cups to engage the horizontal surface with the one or more vacuum suction cups and moving the main tool away from the horizontal surface with a force sufficient to overcome the frictional engagement between the auxiliary tool and the main tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Reference will now be made to the drawings, which are not necessarily drawn to scale, and in which:

[0014] Figure 1 Illustrate a controller for controlling a robot including an end effector tool and a detachable auxiliary tool according to an exemplary embodiment of the present disclosure;

[0015] Figure 2 Illustrate a multi-axis robot including an end effector tool according to an exemplary embodiment of the present disclosure;

[0016] Figure 3 Illustrate an auxiliary tool according to an exemplary embodiment of the present disclosure;

[0017] Figure 4 Illustrate an end effector tool engaged with an auxiliary tool according to an exemplary embodiment of the present disclosure;

[0018] Figure 5 Illustrate an end effector tool engaged with an auxiliary tool according to an exemplary embodiment of the present disclosure;

[0019] Figure 6 Illustrate an auxiliary tool according to an exemplary embodiment of the present disclosure and several examples of its configuration;

[0020] Figure 7 Illustrate the forces involved in coupling and decoupling an auxiliary tool with an end effector tool according to an exemplary embodiment of the present disclosure; and

[0021] Figure 8 is a flowchart of an operating method of an assistive tool according to an exemplary embodiment of the present disclosure, the operating method including coupling and decoupling of the assistive tool with an end effector. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure may provide various devices, systems, and methods to improve the efficiency and ability to grasp and advance or transport objects within an environment, such as within an automated dispensing system. Some embodiments and components of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all, embodiments of the invention are shown. In fact, the various embodiments of the invention 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.

[0023] Exemplary embodiments of the present disclosure may provide a method, apparatus, and computer program product that assist in automatically grasping or retrieving an object and transporting the object within an environment such as an automated dispensing system. The embodiments improve the efficiency and ability of such grasping and transportation by adding an assistive tool that increases the force with which the tool can engage the object and increases the surface area contact and / or changes the configuration of the surface area contact to allow for faster and more efficient transportation of the object through the environment, whether retrieving the object for dispensing or moving the object for storage or organization. The embodiments address what the applicant has identified as a significant obstacle in the ability to grasp and transport objects within an environment, particularly larger or heavier objects, while maintaining the ability to grasp and transport relatively smaller objects with equal efficiency.

[0024] Although embodiments of the present disclosure may be implemented in various environments for grasping and transporting articles, exemplary embodiments related to an automated dispensing system will be described herein, where the embodiments may be configured to grasp merchandise within a limited environment that may be within the operating range of a robot and transport the merchandise to or from inventory. As described herein, the robot may include a multi-axis robot, such as a six-axis arm with an end effector, or may include a gantry robot suspended above the work environment that has a tool that raises and lowers from an X-Y position established by the gantry. Regardless of the implementation, one of ordinary skill in the art will understand that the embodiments described herein improve the grasping and holding capabilities of the tool, which may allow the tool to move faster and more efficiently while also being able to transport heavier and / or larger articles.

[0025] An automated dispensing system as described herein retrieves and transports articles within a work environment. The automated dispensing system may require a controller that is configured to control the functions of the automated dispensing, including controlling the movement of a dispensing robot and an associated tool (e.g., an end effector). The controller may be configured in a variety of ways,Figure 1 Illustrates its examples. The controller of the example embodiment may include processing circuitry. According to one or more example embodiments disclosed herein, the processing circuitry may be configured to perform actions. In this regard, according to various example embodiments, the processing circuitry may be configured to perform and / or control the performance of one or more functions of the handling, storage, or distribution of articles. According to one or more example embodiments, the processing circuit may be configured to perform data processing, application execution, and / or other processing and management services. In some embodiments, a computing device or a part or component thereof (e.g., the processing circuitry) may be embodied as a circuit chip or include a circuit chip. The circuit chip may constitute a component for performing one or more operations for providing the functions described herein.

[0026] Figure 1 Schematic illustration of a device that can be implemented as a controller of an automatic distribution system. As shown, in some example embodiments, the processing circuitry may include a processor 100, and in some embodiments, may further include a memory 102. The processing circuitry may communicate with and / or control a user interface 104 and / or a communication interface 106, including or otherwise controlling the user interface 104 and / or the communication interface 106. Thus, the processing circuitry may be embodied as a circuit chip (e.g., an integrated circuit chip) configured (e.g., using hardware, software, or a combination of hardware and software) to perform the operations described herein.

[0027] Processor 100 can be embodied in a variety of different ways. For example, the processor can be embodied as various processing components, such as one or more of a microprocessor or other processing elements, a coprocessor, a controller, or embodied as various other computing or processing devices, including integrated circuits, such as application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), and the like. Although described as a single processor, it should be understood that the processor can include multiple processors. The multiple processors can communicate operably with each other and can be collectively configured to perform one or more functions of the system for processing, storing, transporting, or dispensing drugs as described herein. The multiple processors can be embodied on a single computing device or can be distributed across multiple computing devices. In some example embodiments, the processor can be configured to execute instructions stored in a memory or otherwise accessible to the processor. Thus, whether configured by hardware or by a combination of hardware and software, the processor can represent an entity capable of performing the operations in accordance with the embodiments of the present invention while being correspondingly configured (e.g., physically embodied in circuitry - in the form of processing circuitry). Thus, for example, when the processor is embodied as an ASIC, FPGA, etc., the processor can be specifically configured as hardware for performing the operations described herein. Or, as another example, when the processor is embodied as an executor of software instructions, the instructions can specifically configure the processor to perform one or more of the operations described herein.

[0028] In some example embodiments, memory 102 can include one or more non - transitory memory devices, which can be fixed or removable, such as volatile and / or non - volatile memory. In this regard, memory 102 can include non - transitory computer - readable storage media. It should be understood that although memory 102 is described as a single memory, the memory can include multiple memories. The multiple memories can be embodied on a single computing device or can be distributed across multiple computations. The memory can be configured to store information, data, applications, instructions, etc., so that the embodiments of the present invention can perform various functions in accordance with one or more example embodiments. For example, the memory can be configured to buffer input data for processing by the processor. Additionally or alternatively, the memory device can be configured to store instructions for execution by the processor. As yet another alternative, the memory can include one or more databases that can store various files, content, or data sets. Among the contents of the memory, application programs can be stored for execution by the processor to perform functions associated with each respective application program. The memory can optionally store the location of objects within the operating range or environment of the dispensing system to facilitate retrieval of the objects. The memory can optionally store the location of one or more auxiliary tools within the operating range so that a robot controlled by the controller can easily locate and couple with the auxiliary tools as needed.

[0029] The user interface 104 of an example embodiment, such as the user interface of the user module of an automated dispensing system, can communicate with the processing circuitry to receive an indication of user input and / or provide an auditory, visual, mechanical, or other output to the user at the user interface. Thus, the user interface 104 can include, for example, a user input interface such as a keyboard, mouse, joystick, display, touch screen display, microphone, speaker, and / or other input / output mechanisms. Thus, in some example embodiments, the user interface 104 can provide a means for user control for embodiments of the present invention. In some example embodiments in which the present invention is embodied as a server, cloud computing system, etc., aspects of the user interface may be limited or the user interface may not exist. In some example embodiments, one or more aspects of the user interface can be implemented on a user terminal. Thus, regardless of the implementation, according to one or more example embodiments, the user interface can provide input and output components to facilitate the processing, storage, transportation, or delivery of a drug.

[0030] The communication interface 106 can include one or more interface mechanisms for enabling communication with other devices and / or networks. In some cases, the communication interface can be any component, such as a device or circuitry embodied as hardware or a combination of hardware and software configured to receive data from a network and / or transmit data to a network, and / or any other device or module that communicates with the processing circuitry. For example, the communication interface 106 can be configured to enable embodiments of the present invention to communicate with an application server and / or a network and / or an information database. Thus, the communication interface can include, for example, support hardware and / or software for enabling communication via a cable, digital subscriber line (DSL), universal serial bus (USB), Ethernet, or other means.

[0031] Figure 2 An example embodiment of a robot 110 that can be controlled by a controller such as Figure 1 as illustrated therein is described. Figure 2 The robot 110 of an embodiment of Figure 1 is a multi-axis arm robot that includes an end effector 112. The end effector 112 can be any of a variety of tools or a connector to which various tools can be attached. In the current embodiment, the end effector includes a tool body 114 and a vacuum chuck 116. The vacuum chuck 116 can be in fluid communication with a vacuum source (not shown) through a conduit that can extend through the robot 110. The vacuum source, the robot 110, and the end effector 112 can be controlled by a controller such as

[0032] Figure 2The end - effector tool 112 can be used to grasp and pick up various types of items. The robot 110 can move the end - effector tool 112 to a location identified as having a product to be picked up. The location can be a predetermined location, such as a bin of a pallet, a notch within a drawer, or any other location where an object can be stored for later picking up. The robot 110 can move the end - effector tool 112 into contact with the object by advancing a vacuum chuck 116 onto the surface of the object. A vacuum source can draw a vacuum such that the vacuum chuck 116 engages the object and grasps the object with a force corresponding to the contact area of the vacuum chuck and the vacuum pressure. Although the vacuum source is described herein as drawing a vacuum, the drawing of a vacuum is any pressure below the atmospheric pressure at which the robot 110 operates. In other words, the vacuum source creates a negative gauge pressure at the vacuum chuck 116, and the negative pressure can be controlled, for example, by Figure 1 the controller of. The negative pressure can be variable so as to draw only the vacuum required for the vacuum chuck to engage and grasp the object and not create a negative pressure strong enough to damage the object or substantially deform the engagement surface of the object. Thus, as used herein, the phrase "drawing a vacuum" refers to drawing a negative gauge pressure, or a pressure below the atmospheric pressure of the operating environment of the robot.

[0033] The vacuum chuck can be made of a flexible material such as rubber, silicone, etc., and the surface of the vacuum chuck 116 can have the same flexible material or can include foam or other materials that can be used to complement an uneven surface of the object to be grasped. For example, the lid of a container can include raised or embossed lettering such that the surface is not smooth. Although a vacuum chuck such as the vacuum chuck 116 can adequately engage an uneven surface to grasp the object, the uneven surface can cause a vacuum leak. Thus, foam or other materials disposed around the periphery of the contact surface of the vacuum chuck can be used to accommodate the uneven surface.

[0034] The force with which an object can be grasped through the embodiments described herein can be limited by the surface area or the area of the object within the periphery of the vacuum chuck 112 (e.g., the contact area) and the negative pressure that can be drawn by the vacuum source. This grasping - force limit can limit the weight of the object that can be grasped. Additionally, although the vacuum source may be capable of drawing a relatively large negative pressure, the type of object being picked up may not be conducive to generating more than a certain amount of negative pressure. For example, an object such as thin paper / cardstock or a plastic film may not be suitable for grasping with a high negative pressure because the high negative pressure may deform or damage the object being picked up or its packaging. Furthermore, although, for example Figure 2 the tool of the end - effector 112 can be capable of grasping and lifting an object of a specific weight, the movement of the robot 110 after picking up the object may cause the object to fall due to the weight of the object shifting relative to the vacuum chuck 112 and cause the vacuum chuck to separate from the object, resulting in a drop. The size of the object can also limit the movement available to the robot 110 without causing the object to fall.

[0035] The embodiments described herein provide a mechanism by which the lifting capacity of the end - effector 112 can be increased and the handling / movement capabilities of the robot 110 after picking up an object can be improved. Further, the mechanisms described herein can be easily attached to and detached from the end - effector 110 without additional hardware or mechanical latches / locks for the mechanism.

[0036] Figure 3 A cross - sectional view of an auxiliary tool 200 is illustrated, which is configured to increase the lifting capacity of the end - effector 112 and improve the engagement between the auxiliary tool 200 and the grasped object relative to the end - effector 112. As shown, the auxiliary tool 200 includes a tool body 202 that defines a receiver 204 on a first side of the auxiliary tool body 202. The auxiliary tool 200 further includes a manifold 206 defined by the tool body 202, where the manifold is in fluid communication with the receiver 204 through a first opening 208. The tool body 202 further defines a plurality of second openings 210, each of which is in communication with a respective second vacuum suction cup 216 of a plurality of second vacuum suction cups. The array of the plurality of second vacuum suction cups 216 can actually be infinite. For example, in Figure 3 the illustrated embodiment shows two second vacuum suction cups 216 in cross - section, the embodiment can include an array of vacuum suction cups such as two vacuum suction cups in two rows, four vacuum suction cups in one row, two vacuum suction cups in five rows, a circular array of eight vacuum suction cups, etc.

[0037] As will be understood by those of ordinary skill in the art, the number of second vacuum suction cups and their relative positions (e.g., a regular array of rows and columns, an irregular array, a circular pattern, or multiple concentric circular patterns, etc.) can have any desired configuration. Optionally, the auxiliary tool can include only a single vacuum suction cup, where the vacuum suction cup of the auxiliary tool can be sized and / or shaped to provide an enhancement to the vacuum suction cup 116 of the end - effector. Thus, the auxiliary tool as described herein can have one or more vacuum suction cups disposed thereon. The configuration of the second vacuum suction cups can be specifically configured for the type of object to be grasped such that the vacuum suction cups can be arranged according to the weight, size, and orientation of the object to be picked up. Further, the embodiments described herein can employ multiple auxiliary tools, each for grasping a specific type or kind of object, such that a dispensing system can select and engage the appropriate auxiliary tool for the object to be picked up.

[0038] The auxiliary tool 200 can include a fixing mechanism, such as Figure 3 the illustrated tilting spring 218. As will be further described below, the fixing mechanism can be embodied by a plurality of different types of fastening or engaging members, and the fixing mechanism can be defined on the auxiliary tool, the end - effector, or a combination thereof.

[0039] The assist tool 200 is configured to be engaged by a tool such as the end - effector tool 112. Figure 4 The assist tool 200 disposed on the surface 220 is shown, where the end - effector tool 112 begins to engage with the assist tool. The robot 110 can advance the end - effector tool 112 to a known position of the assist tool 200 that may be known to the robot, as the robot may have placed the assist tool in its current position and stored (e.g., in the memory 102) that position for later retrieval. As shown, the end - effector tool body 114 and the vacuum chuck 116 are received within the receiver 204 of the assist tool 200. The fixing mechanism 218 of the receiver 204 of the illustrated embodiment includes a complementary groove 118 of the tool body 114 to fix the end - effector tool 112 to the assist tool 200 with a fixing force detailed further below.

[0040] When the tool body 114 of the end - effector tool 112 is received within the receiver 204, the vacuum chuck 116 engages the bottom surface of the receiver with the first opening 208 such that the vacuum chuck 116 is in fluid communication with the first opening 208. Through the first opening 208, the manifold 206, and the plurality of second openings 210, the vacuum chuck 116 becomes in fluid communication with each of the plurality of second vacuum chucks 216. The fixing mechanism 218 of the receiver 204, in this case the tilting spring, engages with the complementary groove 118, thereby holding the assist tool 200 to the end - effector tool 112 with a fixing force. As will be further described below, the fixing force is greater than the weight of the assist tool 200 such that when the end - effector tool lifts the assist tool 200 from the surface 220, the assist tool remains engaged with the end - effector tool and can be moved with the end - effector tool.

[0041] Once the auxiliary tool 200 has been fixed to the end - effector 112 with the fixing force of the fixing mechanism 218, the auxiliary tool can be lifted from the surface 220 and moved to the position where it will grasp and lift an object. Although the fixing mechanism 218 is described as an inclined spring of the auxiliary tool 200 that engages with the corresponding groove 118 of the tool body, the fixing mechanism can be embodied in a variety of different ways. For example, the fixing mechanism can be an inclined spring on the tool body 114 that engages with a complementary groove within the receiver 204. The fixing mechanism can optionally include one or more magnets, such as a magnet on the tool body 114 that engages with a magnet within the receiver 204, or a magnet on the tool body or within the receiver, which is configured to engage a magnetic attraction material in the other of the tool body or the receiver. Other fixing mechanisms can include washers, such as O - rings, spring - biased cylinders, and similar pawl mechanisms used to hold a sleeve on a ratchet, a frictional engagement between the tool body 114 and the receiver 204, or a vacuum - activated latch, instead of the inclined spring (which can be considered spring - loaded). Any of these fixing mechanisms can be used to attach the auxiliary tool 200 to the tool body 114 of the end - effector 112 with a fixing force greater than the weight of the auxiliary tool. The fixing force is the force that holds the auxiliary tool 200 to the tool body 114, and a fixing force greater than the weight of the auxiliary tool is required so that when the end - effector 112 is lifted, the weight of the tool does not overcome the fixing force and thus lift the auxiliary tool.

[0042] The fixing force of the fixing mechanism is designed to be sufficient to fix the auxiliary tool 200 to the tool body 114, but the fixing force does not need to be substantially greater than the weight of the auxiliary tool body. When the auxiliary tool 200 is used to grasp an object, the auxiliary tool is further fixed to the end - effector 112 due to the engagement of the vacuum suction cup 116 of the auxiliary tool as detailed herein.

[0043] The auxiliary tool 200 is designed to improve the lifting ability of the end - effector 112 and increase the mobility of the end - effector when transporting an object grasped by the auxiliary tool. As described above, the auxiliary tool can be configured with an array of second vacuum suction cups 216, which are arranged in any pattern or configuration suitable for grasping an object of a particular size and / or shape. Depending on the embodiment of the auxiliary tool as described herein, multiple auxiliary tools 200 can be used to grasp objects of different shapes.

[0044] Figure 6 Several exemplary embodiments illustrating the auxiliary tool 200 and the plurality of second vacuum suction cups 216 are shown. As shown, the auxiliary tool 200 can take various forms, where the vacuum suction cups of the auxiliary tool are arranged and spaced as needed for optimizing the engagement of the vacuum suction cups with the object to be grasped. Figure 6 Each of the auxiliary tools 200 can take such as with respect to Figures 3 to 5The receiver 204 and the manifold 206 of the auxiliary tool 200 are described to achieve improved ability and stability in grasping objects as described herein. According to some embodiments, as described above, the auxiliary tool may include only a single vacuum suction cup, and the vacuum suction cup may be sized or shaped to improve the lifting ability and / or stability of the vacuum suction cup 116 relative to the end effector 112.

[0045] In addition to improving the stability of grasping and transporting objects using multiple second vacuum suction cups, the embodiments described herein also improve the lifting ability of the end effector 112 by using the auxiliary tool 200. When the tool body 114 is received within the receiver 204 and the first vacuum suction cup 116 engages the bottom of the receiver, the vacuum suction cup itself engages around the first opening 208. In response to a vacuum source drawing a vacuum on the end effector 112 through the first vacuum suction cup 116, the same vacuum pressure is drawn through the first opening 208, the manifold 206, the plurality of second openings 210, and the plurality of second vacuum suction cups 216, as indicated by the arrow 240 in Figure 7 . When the suction force of a single vacuum suction cup 116 is the negative pressure (relative to the atmosphere) multiplied by the engagement area or contact area of the vacuum suction cup, the suction force is thereby increased. The auxiliary tool 200 increases the suction force available for engagement by increasing the contact area using multiple vacuum suction cups 216.

[0046] Although the first vacuum suction cup 116 is limited by the engagement force generated by the vacuum, the fixing mechanism 218 increases the lifting ability of the tool by providing a fixing force. Figure 7 Illustrates the increased ability of the end effector by using the auxiliary tool 200, where the lifting ability becomes the sum of the force of a single vacuum suction cup (F single ) and the fixing force (F secure ). The forces acting on the lifting ability include the weight of the auxiliary tool (i.e., the mass of the auxiliary tool multiplied by the acceleration due to gravity F tool ) and the weight of the object being lifted (F object ). In this way, the end effector 112 combined with the auxiliary tool 200 has a significantly increased lifting ability for lifting and moving objects.

[0047] Exemplary forces are used herein to describe example embodiments. Although the following forces represent example embodiments, it should be understood that various force combinations and magnitudes may be used in achieving the benefits identified herein, such that the forces of the example embodiments are not intended to be limiting.

[0048] According to an example embodiment, the engagement force of a single vacuum suction cup may be or 4.0 pounds (F single = 4 lb), while the fixing force may be 3 pounds (F secure= 3 lb). The force of a single vacuum chuck can be derived from the area of the vacuum chuck multiplied by the vacuum pressure. For example, when the vacuum pressure is about 5 pounds per square inch (5 psi) below atmospheric pressure, a single vacuum chuck with a 1.0-inch diameter contact area has a holding force of 4.0 lbs. The fixing force can be achieved by any of the components described above. The weight of the tool can vary depending on the configuration and size of the tool; however, an example embodiment can weigh 0.5 lbs. In this embodiment, the lifting capacity of the tool will be:

[0049] F single + F secure - F tool = F object

[0050] 4.0 lbs + 3.0 lbs - 0.5 lbs = 6.5 lbs

[0051] However, considering that the lifting capacity Fobject of the tool defines the absolute maximum lifting capacity, a safety factor can be considered when determining the maximum object weight that should be carried by the auxiliary tool 200. For example, the safety factor can be determined based on the specific implementation of the tool and can be a safety factor of about 2, where the maximum object weight carried is half of the maximum capacity, or a safety factor of about 10, where the maximum object weight carried is one-tenth of the maximum capacity. However, this safety factor can be used for both the single vacuum chuck of the end-of-arm tool 112 and the auxiliary tool 200.

[0052] In addition to the identified advantages of the auxiliary tool increasing the lifting capacity and the stability of the object carried by the auxiliary tool relative to the end-of-arm tool, the embodiments described herein can provide a tool-free disconnection of the auxiliary tool from the end-of-arm tool. The robot 110 can operate in an environment where it picks up and transports objects across a work area. Connecting and disconnecting the end-of-arm tool 112 of the robot 110 from the auxiliary tool 200 without the need for a docking station or a fixed position that can hold the auxiliary tool provides an opportunity to increase the operating efficiency of the robot in the work area. The embodiments of the auxiliary tool 200 described herein can be connected and disconnected without the need for a specific docking station / position in the tool or the work area.

[0053] As described above, the lifting capacity of the auxiliary tool is limited by the fixing force (F secure ) and the holding force of a single vacuum chuck 116 (F single) The limit of the sum. A force greater than this sum will cause the auxiliary tool 200 to disconnect from the end - effector 112. This force is referred to herein as the "decoupling force". With the aid of a plurality of second vacuum suction cups 216, the auxiliary tool can be attached to a surface with a joining force greater than the lifting capacity of the end - effector 112 when fixed to the auxiliary tool 200. As described above, the lifting capacity is limited to the joining force of a single vacuum suction cup 116 (F single ) and the fixing force (F secure ) minus the weight of the tool (F tool ). Using the above - mentioned example embodiment, this force is 6.5 lbs. According to the example, the auxiliary tool 200 having four vacuum suction cups 216 can engage a surface (e.g., surface 220) with a force of 16 lbs at the same pressure of 5 psi below atmospheric pressure, each vacuum suction cup having a one - inch connection area. This joining force is substantially higher than the lifting capacity and is thus sufficient to provide the decoupling force.

[0054] To effect the decoupling process of disconnecting the end - effector 112 from the auxiliary tool 200, the robot 110 can advance the end - effector and the attached auxiliary tool to a position where a sufficient number of the plurality of second vacuum suction cups 216 are in contact with the surface (preferably, a horizontal surface or a surface relative to horizontal). Once the robot has placed the auxiliary tool 200 on the surface with the vacuum suction cups in contact with the surface, the vacuum source can draw a vacuum (e.g., as can be controlled by Figure 1 's controller) to generate a joining force between the vacuum suction cups 216 of the auxiliary tool 200 and the surface 220, hereinafter shown as F surface .

[0055] F single +F secure -F tool <F surface

[0056] In the foregoing embodiment having four vacuum suction cups 216, the vacuum source can draw a vacuum to generate a joining force between each of the four vacuum suction cups and the surface 220. While the vacuum is still being drawn, the robot 110 can then pull the end - effector 112 from the receiver 204 of the auxiliary tool 200. The joining force F surface between the auxiliary tool 200 and the surface 220 is large enough such that the fixing forces F secure and F single are overcome, and the fixing mechanism disengages, such that the end - effector 112 is removed from the receiver 204.

[0057] The controller of the robot 110 can store the position where the auxiliary tool 200 is disconnected, so that the auxiliary tool can be taken out at any point. In addition, multiple auxiliary tools can be used to couple to various different objects and can be similarly attached / detached from the end-effector 112 at various positions throughout the work area. Positions can be established based on usage frequency in order to optimize the position of one or more auxiliary tools and further improve the efficiency with which picking, transporting, and dispensing can occur from the example embodiments described herein.

[0058] As described above, various embodiments as described herein can be used to pick, transport, and dispense articles of different sizes, shapes, and weights. The use of one or more auxiliary tools can be used to provide enhanced capabilities and transport efficiency of the systems of the example embodiments. The controller of the example embodiments can be configured to store the weight and packaging configuration of the object to be picked in the memory 102 in order to identify the appropriate auxiliary tool most suitable for picking.

[0059] Some of the example embodiments provided herein can involve picking an object with an unknown packaging configuration, or the packaging configuration may vary between similar articles. For example, when the articles are in composite packaging, two articles with the same identification may have different form factors. Thus, the example embodiments provided herein can include an end-effector 112 having a vision system that is configured to determine the form factor shape and size. Based on the vision system scanning the object, an appropriate auxiliary tool 200 can be established.

[0060] Figure 8 is a flowchart of a method and program product according to an example embodiment of the present disclosure. It should be understood that each block of the flowchart and combinations of blocks in the flowchart can be implemented by various means, such as hardware, firmware, processors, circuitry, and / or other means associated with the execution of software including one or more computer program instructions. These computer program instructions can also be stored in a non-transitory computer-readable 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 memory produce an article of manufacture that implements the functions specified in the flowchart block. The computer program instructions can also be loaded onto a computer or other programmable device to cause a series of operations to be performed on the computer or other programmable device to produce a computer-implemented process, such that the instructions executed on the computer or other programmable device implement the functions specified in the flowchart block.

[0061] Accordingly, the blocks of the flowchart support combinations of means for performing the specified functions and combinations of operations for performing the specified functions. It should also be understood that one or more blocks of the flowchart and combinations of blocks in the flowchart can be implemented by a special-purpose hardware-based computer system that performs the specified functions or by a combination of special-purpose hardware and computer instructions.

[0062] In this regard, as shown in Figure 8 a method according to an embodiment of the present disclosure may include engaging an auxiliary tool with a tool as shown at 310, where the tool includes a first vacuum chuck and the auxiliary tool includes one or more second vacuum chucks. At 320, the tool may be fixed to the auxiliary tool using a fixing mechanism. At 330, a vacuum is drawn through the first vacuum chuck, where a vacuum is drawn through the one or more second vacuum chucks in response to drawing a vacuum through the first vacuum chuck when the tool is engaged with the auxiliary tool. In response to drawing a vacuum through the one or more second vacuum chucks and the one or more second vacuum chucks engaging the surface of an object, the object is grasped at 340 using the one or more second vacuum chucks.

[0063] In some embodiments, certain operations in the operations may be modified or further amplified as described below. Additionally, in some embodiments, additional operations may also be included. It should be understood that each of the modifications, optional additions, or amplifications below may be included in the above operations individually or in combination with any other features described herein.

[0064] In an example embodiment, a device for performing the Figure 8 method may include a processor (e.g., Figure 1 processor 100 of

[0065] ), which is configured to perform some or all of the operations (310 to 340) described above. For example, the processor may be configured to perform the operations (310 to 340) by executing hardware-implemented logical functions, executing stored instructions, or executing an algorithm for performing each of the operations. Alternatively, the device may include components for performing each of the operations described above.

[0066] An example of a computer program product according to an example embodiment may include at least one computer-readable storage medium having computer-executable program code portions stored therein. The computer-executable program code portions may include program code instructions for performing the operations 310 to 340.

[0067] Benefiting from the teachings presented in the foregoing description and the associated drawings, those skilled in the art to which these inventions pertain will appreciate many modifications and other embodiments of the present invention as set forth herein. Accordingly, it is to 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. Moreover, although the foregoing description and the associated drawings describe exemplary embodiments in the context of specific exemplary combinations of elements and / or functions, it should be recognized that different combinations of elements and / or functions can be provided by alternative embodiments without departing from the appended claims. In this regard, for example, combinations of elements and / or functions different from those specifically described previously are also contemplated as being within the scope of some of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. An auxiliary tool, comprising: an auxiliary tool body that defines a receiver on a first side and a manifold within the auxiliary tool body, wherein a first opening of the manifold is defined within the receiver and one or more second openings of the manifold are defined within a second side of the auxiliary tool body opposite the first side; one or more second vacuum suction cups attached to the second side of the auxiliary tool body, wherein each of the one or more second vacuum suction cups is in fluid communication with a corresponding second opening; and a fixing mechanism within the receiver, wherein in response to a main tool being received within the receiver and a first vacuum suction cup of the main tool engaging the first opening, the fixing mechanism fixes the main tool within the receiver with a fixing force, wherein the auxiliary tool is configured to engage a surface through the one or more second vacuum suction cups in response to the main tool received within the receiver and a vacuum being drawn through the main tool, and wherein the fixing mechanism is configured to release the main tool in response to the main tool being withdrawn from the receiver with a separating force greater than the fixing force when the auxiliary tool engages the surface.

2. The auxiliary tool according to claim 1, wherein the fixing mechanism is capable of separating the auxiliary tool from the main tool in response to the separating force of the main tool from the receiver being higher than the fixing force, and wherein the fixing force is greater than the weight of the auxiliary tool.

3. The auxiliary tool according to claim 1, wherein in response to the first vacuum suction cup of the main tool being attached to the first opening and a vacuum being drawn, each of the one or more second vacuum suction cups of the auxiliary tool draws a vacuum.

4. The auxiliary tool according to claim 3, wherein the first vacuum suction cup of the main tool defines a first contact area, wherein the one or more second vacuum suction cups attached to the auxiliary tool body define a second contact area, wherein the second contact area is the sum of the contact areas of each of the one or more second vacuum suction cups attached to the auxiliary tool, and wherein the second contact area is greater than the first contact area.

5. The auxiliary tool according to claim 4, wherein the one or more second vacuum suction cups of the auxiliary tool are configured to be attached to an object with an auxiliary tool engagement force in response to the first vacuum suction cup of the main tool engaging the first opening and a vacuum of a first pressure being drawn through the first vacuum suction cup of the main tool when the one or more second vacuum suction cups of the auxiliary tool are in contact with the object.

6. The auxiliary tool according to claim 5, wherein the auxiliary tool engagement force is greater than the engagement force that the first vacuum suction cup of the main tool can generate when drawing a vacuum of the first pressure.

7. The auxiliary tool according to claim 1, wherein the fixing mechanism comprises an inclined spring disposed within the receiver, wherein the fixing mechanism is received in a complementary groove in the receiver of the auxiliary tool body, and wherein in response to the primary tool being received within the receiver, the inclined spring engages a groove in the primary tool.

8. The auxiliary tool according to claim 1, wherein the fixing mechanism comprises at least one magnet, and wherein the at least one magnet provides engagement between the primary tool and the receiver in response to the primary tool being received within the receiver.

9. The auxiliary tool according to claim 1, wherein the fixing mechanism comprises at least one spring-biased cylinder and a corresponding ratchet mechanism.

10. The auxiliary tool according to claim 1, wherein the fixing force is lower than the bonding force between the one or more second vacuum suction cups of the auxiliary tool and the surface.

11. A system for increasing the capabilities of a tool, comprising: a tool having a tool body and a first vacuum suction cup extending from a front end of the tool body; an auxiliary tool having an auxiliary tool body that defines a receiver on a first side and a manifold within the auxiliary tool body, wherein a first opening of the manifold is defined within the receiver, and one or more second openings of the manifold are defined within a second side of the auxiliary tool body opposite the first side; one or more second vacuum suction cups attached to the second side of the auxiliary tool body, wherein each of the one or more second vacuum suction cups is in fluid communication with a corresponding second opening; and a fixing mechanism for fixing the tool to the auxiliary tool, wherein in response to the front end of the tool body being received within the receiver, the fixing mechanism fixes the auxiliary tool to the tool body with a fixing force, and wherein the auxiliary tool is configured to engage a surface through the one or more second vacuum suction cups in response to the tool received within the receiver and a vacuum being drawn through the tool, and wherein the fixing mechanism is configured to release the tool in response to a separation force greater than the fixing force withdrawing the tool from the receiver when the auxiliary tool engages the surface.

12. The system according to claim 11, wherein the tool and the auxiliary tool are separable in response to the separation force between the tool and the auxiliary tool being higher than a predefined value, and wherein the predefined value is greater than the weight of the auxiliary tool.

13. The system according to claim 12, further comprising a vacuum source, wherein in response to the tool engaging the auxiliary tool and a vacuum being drawn through the one or more second vacuum suction cups, the first vacuum suction cup engages the first opening of the manifold, and the vacuum source draws a vacuum through the first vacuum suction cup.

14. The system according to claim 13, wherein the first vacuum suction cup defines a first engagement area, wherein the one or more second vacuum suction cups define a second engagement area greater than the first engagement area, and wherein the lifting capacity of the one or more second vacuum suction cups is greater than the lifting capacity of the first vacuum suction cup.

15. The system according to claim 11, wherein the first vacuum suction cup has a first lifting capacity, wherein the one or more second vacuum suction cups have a second lifting capacity, and wherein the second lifting capacity is the sum of the fixing force and the first lifting capacity.

16. The system according to claim 15, wherein the one or more second vacuum suction cups have an engagement capacity, whereby the one or more second vacuum suction cups engage a surface, and wherein the engagement capacity is greater than the second lifting capacity.

17. A method of increasing the capabilities of a tool, comprising: engaging an auxiliary tool with the tool, wherein the tool includes a first vacuum suction cup and wherein the auxiliary tool includes one or more second vacuum suction cups; fixing the tool to the auxiliary tool with a fixing mechanism; evacuating a vacuum through the first vacuum suction cup, wherein in response to evacuating a vacuum through the first vacuum suction cup when the auxiliary tool is engaged with the tool, a vacuum is evacuated through the one or more second vacuum suction cups; grasping the object with the one or more second vacuum suction cups in response to evacuating a vacuum through the one or more second vacuum suction cups and the one or more second vacuum suction cups engaging the surface of the object, wherein fixing the tool to the auxiliary tool with a fixing mechanism includes fixing the tool to the auxiliary tool with a fixing force, and wherein in response to pulling the tool relative to the auxiliary tool with a force greater than the fixing force, the tool can be separated from the auxiliary tool; and removing the auxiliary tool from the tool by: engaging a fixed surface with a joining force in response to evacuating a vacuum through the one or more second vacuum suction cups and causing the one or more second vacuum suction cups to contact the fixed surface; and moving the tool away from the fixed surface with a decoupling force greater than the fixing force, wherein the decoupling force is greater than the weight of the auxiliary tool and less than the joining force.

18. A detachable auxiliary tool for grasping an object, comprising: an auxiliary tool body defining a first end and a second end, the first end and the second end defining a passage there through and adapted to be temporarily coupled to the front end of a main tool, wherein the first end of the auxiliary tool body is adapted to interface with the front end of the main tool, wherein the second end of the auxiliary tool body includes one or more vacuum suction cups adapted to firmly hold an object and displace the object from an object origin to an object destination, wherein the auxiliary tool is adapted to be temporarily coupled to the front end of the main tool using a fixing mechanism, wherein the fixing mechanism provides a frictional engagement between the auxiliary tool and the main tool, and The auxiliary tool is adapted to decouple from the primary tool at any surface in response to evacuation of a vacuum through the one or more vacuum suction cups to engage the surface with the one or more vacuum suction cups and move the primary tool away from the surface with a force sufficient to overcome the frictional engagement between the auxiliary tool and the primary tool.

19. The detachable auxiliary tool according to claim 18, wherein in response to the auxiliary tool being coupled to the front end of the primary tool, the primary tool is fluidly connected to the one or more vacuum suction cups of the auxiliary tool.

Images