System and method for object handling using a vacuum gripper provided by evacuation to hold an object

Abstract

A end effector of a programmable motion device is disclosed. The end effector includes a body providing an open interior coupled to a vacuum source and the body includes a contact surface for contacting an object to be grasped by the end effector. The contact surface at least partially defines an aperture and the body includes a flexible portion that allows at least a portion of the contact surface to be at least partially drawn into the open interior of the body when air flow through the aperture by the vacuum source is reduced due to the aperture being at least partially obstructed.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 054,904, filed July 22, 2020, the disclosure of which is incorporated herein by reference in its entirety. Background Technology

[0003] The present invention generally relates to programmable motion systems, and more particularly to end effectors for use in programmable motion devices (i.e., robot systems) in object processing such as object classification and object assignment.

[0004] For example, end effectors 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 grip objects very firmly during motion may limit the speed and ease with which they select and grasp objects from a group of different objects. Conversely, end effectors that can quickly and easily grasp selected objects from a group of different objects may limit their ability to firmly grip the acquired objects during rapid movement, especially with rapid acceleration and deceleration (angular and linear).

[0005] Many end effectors use vacuum pressure to pick up and hold objects for transport or subsequent operations via articulated arms. However, vacuum grippers typically require a good seal with the object, and ensuring this seal sometimes necessitates selecting specific suction cups for the object being gripped. Furthermore, gripping certain objects, such as plastic bags, may require specific types of end effectors to ensure the bag does not detach from the end effector or collapse under its force, thus damaging the bag and / or the seal. Additionally, in vacuum systems, the lifting force may be limited by a quantity proportional to the suction cup contact area, and the vacuum itself may damage some objects.

[0006] Other techniques for acquiring and securing objects include electrostatic attraction, magnetic attraction, needles for penetrating objects (such as fabrics), fingers for squeezing objects, hooks for engaging and lifting protruding features of objects, grippers that unfold in openings in objects, and others. For example, gripping clamps or finger grippers are sometimes used to grasp objects, but such systems also present challenges in certain applications. Such systems typically require two opposing surfaces to grasp the object, and finger grippers are mechanically complex, often requiring multiple components and actuation mechanisms to close and open the fingers.

[0007] End effectors are typically designed as a single tool, such as a gripper, welding machine, or paint sprayer, and these tools are usually designed for a specific set of needs. End effectors are still needed in programmable motion systems, which can select and grasp objects and then move the acquired objects to a new location very quickly. Summary of the Invention

[0008] According to one aspect, the present invention provides an end effector for a programmable motion device. The end effector includes a body providing an open interior coupled to a vacuum source, and the body includes a contact surface for contacting an object to be grasped by the end effector. The contact surface at least partially defines an orifice, and the body includes a flexible portion that allows at least a portion of the contact surface to be at least partially drawn into the open interior of the body when the airflow drawn through the orifice by the vacuum source is reduced due to at least partial blockage of the orifice.

[0009] According to another aspect, the present invention provides an end effector for a programmable motion device, wherein the end effector includes a body providing an open interior. The open interior is coupled to a vacuum source, and the body includes a contact surface for contacting an object to be grasped by the end effector. The contact surface at least partially defines an aperture, and the body includes a curved flexible portion having an outer surface facing away from the open interior, the curved flexible portion being provided such that when the airflow drawn through the aperture by the vacuum source is reduced due to at least partial blockage of the aperture, the outer surface of the curved flexible portion faces the object at least partially grasped in the open interior of the body.

[0010] According to another aspect, the present invention provides a method for applying an end effector of a programmable motion device to an object. The method includes providing an end effector comprising a body having an open interior coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector, the contact surface at least partially defining an orifice; engaging the contact surface of the flexible body to the object, and allowing at least a portion of the contact surface of the flexible body to be at least partially drawn into the open interior of the body when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked. 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 view of an object processing system including a programmable motion device with an end effector, according to one aspect of the present invention, is shown.

[0013] Figure 2 It shows Figure 1 An illustrative diagram of the bottom view of the sensing system;

[0014] Figure 3 Showing from Figure 1 An illustrative diagram of a box of objects to be processed in a perception system;

[0015] Figure 4 An aspect of the invention is shown. Figure 1 An illustrative front view of the end effector;

[0016] Figure 5 It shows Figure 4 An illustrative bottom view of the end effector taken along line 5-5;

[0017] Figure 6 It shows Figure 4 An illustrative schematic side section view of the end effector taken along line 6-6;

[0018] Figure 7 It shows Figure 6 An illustrative side section view of the end effector of the contacting object;

[0019] Figure 8 It shows Figure 7 An illustrative side section view of the end effector that begins to suck in the object;

[0020] Figure 9 It shows Figure 7 An illustrative side section view of the end effector for further inhalation of the object;

[0021] Figure 10 It shows Figure 7 An illustrative side section view of the end effector that has been fully sucked into the object;

[0022] Figure 11 It shows Figure 6 An illustrative side section view of an end effector that has been fully sucked into a non-circular object;

[0023] Figure 12 It shows Figure 6 An illustrative side section view of an end effector that has already sucked in a larger non-circular object;

[0024] Figure 13 An illustrative bottom view of an end effector including a polygonal hole according to another aspect of the invention is shown;

[0025] Figure 14 An illustrative bottom view of an end effector including a polygonal hole and a release opening according to another aspect of the invention is shown;

[0026] Figure 15An illustrative bottom view of an end effector comprising a generally triangular hole according to another aspect of the invention is shown;

[0027] Figure 16 An illustrative bottom view of an end effector comprising a generally triangular release opening, according to another aspect of the invention, is shown;

[0028] Figure 17 An illustrative schematic side cross-sectional view of an end effector including a flexible portion at a midpoint along the distal sidewall, according to another aspect of the invention, is shown.

[0029] Figure 18 It shows Figure 17 An illustrative side section view of the end effector of the contacting object;

[0030] Figure 19 It shows Figure 17 An illustrative bottom view of the end effector taken along line 19-19;

[0031] Figure 20 An illustrative front view of an elongated end effector of another aspect of the present invention is shown;

[0032] Figure 21 It shows Figure 20 An illustrative cross-sectional view of the slender end effector taken along line 21-21;

[0033] Figure 22 It shows Figure 20 An illustrative cross-sectional view of the slender end effector taken along line 22-22;

[0034] Figure 23 It shows Figure 20 An illustrative bottom view of a slender end effector;

[0035] Figure 24 With similar Figure 23 The view shows an illustrative bottom view of an elongated end effector according to another aspect of the invention;

[0036] Figure 25 It shows Figure 20 An illustrative front view of a slender end effector gripping a slender object;

[0037] Figure 26 It shows Figure 25 An illustrative cross-sectional view of the slender end effector taken along line 26-26;

[0038] Figure 27 It shows Figure 25An illustrative bottom view of the slender end effector taken along line 27-27;

[0039] Figure 28 An illustrative schematic side cross-sectional view of an elongated end effector including a flexible portion at a midpoint along the distal sidewall, according to another aspect of the invention, is shown.

[0040] Figure 29 It shows Figure 28 An illustrative side section view of the end effector of the contacting object;

[0041] Figure 30 An illustrative isometric view of an end effector comprising a foldable dome and a shield according to another aspect of the invention is shown;

[0042] Figure 31 It shows Figure 30 An illustrative diagram of the end effector during grasping;

[0043] Figure 32 It shows Figure 30 An illustrative side view of the end effector;

[0044] Figure 33 It shows Figure 30 An illustrative bottom view of the end effector;

[0045] Figure 34 An illustrative schematic side view of an end effector comprising a foldable dome and a shield with fan-shaped edges according to another aspect of the invention is shown;

[0046] Figure 35 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, comprising a shield and a foldable dome extending from the shield before gripping.

[0047] Figure 36 It shows Figure 30 An illustrative side view of the end effector during grasping;

[0048] Figure 37 It shows Figure 36 An illustrative bottom view of the end effector;

[0049] Figure 38 It shows Figure 30 An illustrative side view of an end effector gripping a deformable object;

[0050] Figure 39 It shows Figure 30 An illustrative side view of an end effector gripping a rigid object;

[0051] Figure 40 An illustrative schematic side view of an end effector according to another aspect of the invention, comprising a foldable dome with fewer holes, a shield, and an extension region, is shown.

[0052] Figure 41 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, comprising a foldable dome with fewer holes, a protective cover, an extension region, and an additional support.

[0053] Figure 42 An illustrative schematic side view of an end effector including a connector attached to a flexible body, according to another aspect of the invention, is shown;

[0054] Figure 43 It shows Figure 42 An illustrative cross-sectional side view of a flexible body with inner circumferential support ribs;

[0055] Figure 44 It shows Figure 42 An illustrative cross-sectional side view of a flexible body with axially extending support ribs;

[0056] Figure 45 It shows Figure 42 An illustrative isometric view of the elevation of a flexible main body with stop members; and

[0057] Figure 46 It shows Figure 45 An illustrative side view of the flexible body and the stop mechanism.

[0058] The accompanying drawings are for illustrative purposes only. Detailed Implementation

[0059] According to one aspect, the present invention provides an end effector for a programmable motion device, the end effector comprising a body providing an open interior. The open interior is coupled to a vacuum source, and the body includes a contact surface for contacting an object grasped by the end effector. The contact surface at least partially defines an orifice, and the body includes a flexible portion that allows the contact surface to be at least partially drawn into the open interior of the body when airflow drawn through the orifice by the vacuum source is reduced due to at least partial blockage of the orifice. According to a further aspect, the flexible portion provides an engagement region, an outer surface adjacent to the contact surface being movable inwardly into the open interior around the engagement region. In a further aspect, the outer surface faces away from the open interior, however, when airflow drawn through the orifice by the vacuum source is reduced due to at least partial blockage of the orifice, the outer surface of the flexible portion faces the grasped object.

[0060] End effectors can be used with programmable motion devices in object processing systems. For example, Figure 1 An object processing system 10 is shown, comprising an object processing station 12 located between a feed conveyor 16 carrying a feed bin 14 and a destination conveyor 20 carrying a destination container 18. The object processing station 12 includes a programmable motion device (e.g., an articulated arm 22) having an attached end effector 24 and an associated sensing system 26. The sensing system 26 is positioned to sense objects (and / or associated markers) in a selected feed bin 14' that is steered (selected) by a steering mechanism 17 to move along a selected feed conveyor 16'. The sensing system 26 is also positioned to sense destination containers 18' provided on the processing destination conveyor section 20' of the destination conveyor 20. Operation of the system is controlled by one or more computer processing systems 100 that communicate with the conveyors 16, 16', steering mechanism 17, conveyor 20, programmable motion device 22 (including end effector 24), and sensing system 26.

[0061] The object processing station 12 includes a feed conveyor section 16' that uses a deflector 17 to circulate supply bins 14' back and forth on the feed conveyor 16. The end effector 24 of the programmable motion device 22 is programmed to grab objects from the supply bins 14' and move them to transport them to the desired destination bin 18 on the destination conveyor loading area 20' by placing or dropping the objects into the destination container 18'. The supply bins 14' can then return to the input conveyor 16 and optionally be taken to a further processing station. Thus, at processing station 12, one or more supplier supply bins 14 are routed to the input area, and the programmable motion device 22 is actuated to grab objects from bins 14' and place them into the selected destination container 18'. The processed supplier bins 14' then return to the common input stream on the conveyor 16, and the destination container 18' moves further along the destination conveyor 20.

[0062] System 10 may also include one or more sensing units 19 located on or near the feed conveyor 16 for identifying markings on the exterior of each box 14, providing sensing data from which the contents of the box can be identified, and then knowing its relative position on the conveyor 16 to track its position. According to one aspect, it is assumed that several boxes are marked with visually unique markings, such as barcodes (e.g., providing UPC codes), QR codes, or radio frequency identification (RFID) tags or mailing tags, at one or more locations on their exteriors, enabling them to be fully identified by a scanner for processing. The type of marking depends on the type of scanning system used but may include 1D or 2D code symbols. Various symbols or marking methods can be employed. It is assumed that the type of scanner used is compatible with the marking method. For example, identification markings (e.g., symbol strings) are encoded by marking via barcodes, RFID tags, mailing tags, or other means, the identification markings typically being a string of letters and / or numbers. The symbol string uniquely associates a supplier box with a specific set of similar objects. Based on the code identified on the feed hopper 14', the system can allow the hopper 14 to continue along the feed conveyor 16, or use the deflector 17 to guide the selected hopper 14' onto the selected feed conveyor 16'.

[0063] On the selected feed conveyor 16' of the object processing station 12, the sensing system 26 assists (using the central control system 100, e.g., one or more computer processing systems) in positioning and gripping objects in the feed bin 14' via a programmable motion device 22, including an end effector 24. According to a further aspect, each object may also be marked with a visually unique identifier, again such as a barcode (e.g., providing a UPC code), QR code, or radio frequency identification (RFID) tag or mailing label, making them readily identifiable by a scanner for processing. The type of marking depends on the type of scanning system used but may include 1D or 2D code symbols. Similarly, multiple symbols or marking methods may be employed on each object.

[0064] refer to Figure 2 A sensing system 26, viewed from above in object processing station 12, senses data from one or more objects within a selected feed bin 14' on a selected feed conveyor 16'. The sensing system 26 is mounted above a bin of objects to be processed, near the base of the articulated arm 22, and facing downwards towards the bin 32. For example, as... Figure 2As shown, the perception system 26 may (on its underside) include a camera 27, a depth sensor 28, and lights 30. It acquires a combination of 2D and 3D (depth) data. The depth sensor 28 can provide depth information, which can be used in conjunction with camera image data to determine depth information about various objects in the view. The lights 30 can be used to remove shadows and facilitate the recognition of object edges, and can be all turned on during use, or can be illuminated in a desired order to aid in object recognition. The system uses images and various algorithms to generate a set of candidate grab positions for objects in the bin, as discussed in more detail below.

[0065] Figure 3 A view of bin 14' from sensing system 26 is shown. The image view shows bin 14' (e.g., on conveyor 16'), and bin 14' contains objects 32, 34, 36, and 38. While in some systems the objects in each bin may be homogeneous, in other systems, such as... Figure 3 As shown, the objects may be non-homogeneous. The system will identify candidate gripping locations on one or more objects and may not attempt to identify gripping locations on objects partially occluded by other objects. Candidate gripping locations can be indicated using a 3D model of a robotic end effector placed where the actual end effector will be used as the gripping location. Gripping locations may be considered favorable, for example, when they are close to the object's center of mass to provide greater stability during gripping and transport, and / or when they are avoided on objects where a good vacuum seal may not be achieved (such as lids, seams, etc.).

[0066] If an object cannot be fully perceived by the detection system, the system considers it to be two distinct objects and may propose more than one candidate object for grasping. If the system attempts to grasp at any of these undesirable grasping locations, it will either fail to acquire the object due to the inability to create a vacuum seal, or it will grasp the object at a location far from its centroid, causing significant instability in any attempted transport. Each of these outcomes is undesirable.

[0067] If a poor grasping position is encountered, the system may remember the location of the related object. By identifying good and bad grasping positions, a correlation is established between features in 2D / 3D images and the concepts of good and bad grasping positions. Using this data and these correlations as input to a machine learning algorithm, for each image presented to the system, it can eventually learn where to best grasp objects and where to avoid grasping objects.

[0068] Similarly, the above system operation is coordinated with a central control system 100, which again communicates (e.g., wirelessly) with articulated arms 22, sensing units 19, 26, 28, and 30, and feed conveyors 16, 16', steering mechanism 17, and target conveyor 20. The system determines the UPC associated with the supplier box and the outbound destination for each object based on a symbol string. The central control system 100 consists of one or more workstations or central processing units (CPUs). For example, the mapping between UPCs or mailing tags and outbound destinations is maintained by the central control system in a database called a manifest. The central control system maintains the manifest by communicating with a warehouse management system (WMS). The manifest provides an outbound destination for each inbound object.

[0069] Figure 1 The end effector 24 in Figure 4 The end effector mounting portion 40 is shown as being connected to the programmable motion device 22. (See image below.) Figure 4 As shown, the end effector 24 includes a body 42 and a connection portion 44 for coupling to the end effector mounting portion 40. Further reference... Figure 5 and Figure 6 The body 42 includes a proximal sidewall 46 coupled to the connecting portion 44, and the proximal sidewall 46 is also coupled to a distal sidewall 48 via a flexible portion 50. The distal sidewall 48 includes an outwardly facing portion 52 and terminates at a contact surface 54 forming a defining aperture 56. The interior of the body 42 (within the proximal sidewall 46 and the distal sidewall 48) provides an open interior 58.

[0070] According to one aspect of the invention, the flexible portion 50 of the body 42 (e.g., a hinge portion) may be formed of an elastomeric material, polymeric material, or even a metallic material of a desired shape, having sufficient flexibility to allow the distal wall 48 to be drawn into the inner body 42 at least partially due to the application of a vacuum within the inner body while the object at least partially blocks the orifice 56, as discussed in more detail below. The proximal wall 46 and / or the distal wall 48 may also be formed of materials and shapes that provide additional flexibility. Typically, a vacuum is provided through the openings of the connecting portion 44 and the mounting portion 40 and through the hose 41 from the orifice 56 to the vacuum source 43, as... Figure 1 As shown.

[0071] According to some aspects, vacuum source 43 can be switched to a positive pressure source pushing from vacuum source 43 towards orifice 56 to force the object away from contact surface 54 and push distal sidewall 48 away. According to a further aspect, in addition to being formed of a flexible material, the flexible portion and / or proximal and / or distal sidewalls can be formed of a material and shape that provides the required spring constant. The required spring constant can provide the body 42 biased to Figure 4 The shape shown makes it such that when deformed (as referenced below) Figures 8 to 10As discussed, the main body 42 will resist any deformation, at least partially contributing to restoring the main body 42 to its original shape (as well as...). Figure 4 (As shown).

[0072] refer to Figure 7 When the contact surface 54 of the distal wall 48 contacts the object 60, the object may partially or completely block the hole 56 (e.g. Figure 6 As shown, this causes the object 60 to be gripped by the end effector due to the vacuum applied through the hole 56, the open interior 58, and the interior of the end effector mounting portion 40 and the hose 41. Partial or complete blockage of the hole 56 results in the contact surface 54 (and the object) being drawn into the open interior 58, partly due to the vacuum and partly due to the flexibility of the flexible portion 50 and optionally the proximal sidewall 46 and / or the distal sidewall 48. Figure 8 This shows the contact surface 54 and the object 60 beginning to enter the open interior 58. Figure 9 The contact surface 54 and object 60 are shown to further enter the open interior 58. Figure 10 This shows that the contact surface 54 and the object 60 are fully inside the open interior 58.

[0073] Once such Figure 10 As shown in the engagement, object 60 is held both by vacuum and by the outer surface 52 of the distal wall 48, because the outer surface 52 of the distal wall 48 now faces object 60 and helps to include object 60 within the end effector, and the flexible portion 50 is now located below at least a portion of object 60.

[0074] Release of object 60 from end effector can be achieved by switching vacuum to a positive pressure air source, which causes the interior 58 to expand, thereby pushing the distal wall 48 radially outward. This causes the distal wall (and contact surface 54) to move outward from the body 42, pushing object 60 away from end effector 24. Alternatively, release of object 60 from end effector can be achieved by closing vacuum and allowing any one of the flexible portion 50, proximal wall 46, and / or distal wall 48 with a sufficient spring constant to push the distal wall 48 radially outward. This causes the distal wall (and contact surface 54) to move outward from the body 42, pushing object 60 away from end effector 24.

[0075] According to a further aspect, the shape and profile of the outer surface of the distal wall may not need to match the shape and profile of the object being joined when fully engaged within the open interior. For example, according to one aspect of the invention, Figure 11 An end effector 24 is shown, whose body 42, proximal sidewall 46 and distal sidewall 48 hold an object 62 within the outer surface 52 of the distal sidewall 48, wherein the object 62 does not conform to the shape and contour of the outer surface 52 of the distal sidewall 48. Figure 12The end effector 24 is further shown, whose body 42, proximal sidewall 46 and distal sidewall 48 hold the object 62 within the outer surface 52 of the distal sidewall 48, wherein the object 64 not only does not conform to the shape and contour of the outer surface 52 of the distal sidewall 48, but also extends at least partially beyond the area defined between the outer surfaces 52 of the distal sidewall 48 (e.g., extending beyond the flexible portion 50).

[0076] According to a further aspect, the contact surface of the distal wall may not be circular, and may, for example, be formed into a polygonal shape. For example, Figure 13 A bottom view of an end effector according to another aspect of the invention is shown (similar to...). Figure 5 As shown in the diagram, the end effector includes an end effector body 72, which includes a proximal sidewall coupled to a connecting portion and also coupled to a distal sidewall 78 via a flexible portion 80. The distal sidewall 78 includes an outwardly facing portion 82 and terminates at a generally polygonal contact surface 84 forming a defining aperture 86. The interior of the body 72 (within the proximal and distal sidewalls 78) provides an open interior into which an object can be drawn in, as referenced above. Figures 8 to 10 As discussed. Because the hole 86 is not circular, a portion of the outer surface of the distal wall near a sharp change in direction (e.g., a corner) of the polygon can form a short crease 85 in the outer surface 82 of the distal wall 78.

[0077] According to further aspects, and in order to alleviate Figure 13 Any strain on this crease 85 of the end effector, depending on further aspects, the outer surface of the distal wall of the end effector may include a release opening. For example, Figure 14 A bottom view of an end effector according to another aspect of the invention is shown (similar to...). Figure 5 As shown in the diagram, it includes an end effector comprising a body 92, the body including a proximal sidewall coupled to a connecting portion, and the proximal sidewall also coupled to a distal sidewall 98 via a flexible portion 100. The distal sidewall 98 includes an outwardly facing portion 102 and terminates at a generally polygonal contact surface 104 forming a defining aperture 106. The interior of the body 92 (within the proximal and distal sidewalls 98) provides an open interior into which an object can be drawn in, as referenced above. Figures 8 to 10As discussed, since the hole 106 is not circular, a portion of the outer surface of the distal wall near a sharp change in orientation of the polygon (e.g., a corner) can provide stress on the outer surface, providing a short release opening 105 to release stress on the distal wall 98. Similarly, no complete sealing of the object is required, and with sufficient vacuum airflow, the opening area provided by the release opening can be small enough not to adversely affect the gripping of the object. Furthermore, as the object (and contact surface) is drawn into the open interior, the release opening 105 can become closed during movement of the distal wall, thereby increasing the vacuum force on the object. According to a further aspect, a programmable motion device can assist this gripping by pushing an end effector onto the object, thereby pushing the distal wall inward, closing the release opening 105, and increasing the vacuum applied to the object.

[0078] Furthermore, the contact surface of the distal wall can be polygonal, specifically triangular, and the body of the end effector can also be non-circular. For example, Figure 15 A bottom view of an end effector according to another aspect of the invention is shown (similar to...). Figure 5 As shown in the diagram, it includes an end effector comprising a body 112, the body including a proximal sidewall coupled to a connecting portion, and the proximal sidewall also coupled to a distal sidewall 118 via a flexible portion 120. The distal sidewall 118 includes an outwardly facing portion 122 and terminates at a generally triangular contact surface 124 forming a defining aperture 126. The interior of the body 112 (within the proximal and distal sidewalls 118) provides an open interior into which an object can be drawn in, as referenced above. Figures 8 to 10 The discussion continues. Although the hole 126 is not circular, any directional variation of the triangle (e.g., the corners) can be circular to relieve stress on the outer surface 122 of the distal wall 118.

[0079] According to the other hand, and in order to mitigate the occurrence of any situation Figure 15 Any strain at any such fillet of the contact surface 124 of the end effector, and the outer surface of the distal wall of the end effector may, on the other hand, include a release opening. For example, Figure 16 A bottom view of an end effector according to another aspect of the invention is shown (similar to...). Figure 5As shown in the diagram, it includes an end effector comprising a body 132, the body including a proximal sidewall coupled to a connecting portion, and the proximal sidewall also coupled to a distal sidewall 138 via a flexible portion 140. The distal sidewall 98 includes an outwardly facing portion 142 and terminates at a generally polygonal contact surface 104 forming a defining aperture 106. The interior of the body 132 (within the proximal and distal sidewalls 138) provides an open interior into which an object can be drawn in, as referenced above. Figures 8 to 10 As discussed, since the hole 146 is not circular, a portion of the outer surface of the distal wall near the triangular or even rounded corner direction change (e.g., corner) can provide stress on the outer surface, providing a short release opening 145 to release stress on the distal wall 138. Similarly, no complete sealing of the object is required, and with sufficient vacuum airflow, the opening area provided by the release opening can be small enough not to adversely affect the gripping of the object. Furthermore, as the object (and contact surface) is drawn into the open interior, the release opening 145 can become closed during movement of the distal wall, thereby increasing the vacuum force on the object. According to a further aspect, a programmable motion device can assist this gripping by pushing an end effector onto the object, thereby pushing the distal wall inward, closing the release opening 145, and increasing the vacuum applied to the object.

[0080] refer to Figure 17 and Figure 18 According to another aspect of the invention, the end effector can be coupled to the end effector mounting portion of the programmable motion device as described above, and may further include a distal wall comprising a flexible portion attached not to its end, but to the middle portion of the distal wall. Specifically, Figure 17 The main body 152 and the connection portion 154 for coupling to the end effector mounting portion of the programmable motion device as described above are shown. Further reference... Figure 18 The body 152 includes a proximal sidewall 156 coupled to the connecting portion 154, and the proximal sidewall 156 is also coupled to a distal sidewall 158 via a flexible portion 160. The distal sidewall 158 includes an outwardly facing portion 162 and terminates at a contact surface 164 forming a defining aperture 166. The distal sidewall 158 also includes an outer edge portion 159. The interior of the body 152 (within the proximal sidewall and the distal sidewall 158) provides an open interior 168.

[0081] According to one aspect of the invention, the flexible portion 160 of the body 152 may be formed of an elastomeric material, polymeric material, or even a metallic material of a desired shape, having sufficient flexibility to allow the distal wall 158 to be drawn into the open interior 168 of the body 152 at least partially due to the application of a vacuum within the inner body while the object at least partially blocks the orifice 171 (similar to the example described above). The proximal wall 156 and / or the distal wall 158 may also be formed of a material and shape that provides additional flexibility. Typically, a vacuum is provided through the openings of the connecting portion 154 and the mounting portion 40 and through the hose 41 from the orifice 166 to the vacuum source 43, as... Figure 1 As shown.

[0082] Similarly, according to certain aspects, vacuum source 43 can be switched to a positive pressure source pushing from vacuum source 43 towards orifice 166 to cause the object away from contact surface 164 and push distal sidewall 158 away. According to a further aspect, in addition to being formed of a flexible material, the flexible portion and / or proximal and / or distal sidewalls can be formed of a material and shape that provides the desired spring constant. The desired spring constant allows the body 152 to be biased to its original shape, such that when deformed (see below) Figure 18 As discussed, the main body 152 will resist any deformation, at least partially contributing to restoring the main body 152 to its original shape (such as...). Figure 17 (As shown).

[0083] refer to Figure 18 When the contact surface 164 of the distal wall 158 contacts the object 170, the object may partially or completely block the hole 166 (e.g. Figure 17 and Figure 19 As shown), this causes object 170 to be gripped by the end effector due to the vacuum applied through the hole 166, the open interior 168, and the interior of the end effector mounting portion and the hose. Partial or complete blockage of the hole 166 results in the contact surface 164 (and object 170) being drawn into the open interior 168, partly due to the vacuum, and partly due to the flexibility of the flexible portion 160 and optionally the flexibility of the proximal sidewall 156 and / or the distal sidewall 158. Figure 18 The object 170, which has a contact surface 164 and is fully inside the open interior 168, is shown. Figure 19 It shows Figure 17 Bottom view of the end effector body 152.

[0084] Once such Figure 18As shown in the engagement, object 170 is held both by vacuum and by the outer surface 162 and outer edge portion 159 of distal wall 158, because the outer surface 162 and outer edge portion 159 of distal wall 158 now face object 170 and facilitate inclusion of object 170 within the end effector, flexible portion 160 now faces object 170 on all its sides, and outer edge portion 159 is now partially located below object 170.

[0085] Release of object 170 from the end effector can be achieved by switching the vacuum to a positive pressure air source, which causes the open interior 168 to expand, thereby radially outward pushing the distal wall 158. This causes the distal wall (and contact surface 164) to move outward from the body 152, pushing object 170 away from the end effector. Alternatively, release of object 170 from the end effector can be achieved by closing the vacuum and allowing any one of the flexible portion 160, the proximal wall 156, and / or the distal wall 158 with a sufficient spring constant to radially outward push the distal wall 158. This causes the distal wall (and contact surface 164) to move outward from the body 152, pushing object 170 away from the end effector.

[0086] On the other hand, the body of the end effector can be slender. Figure 20 An end effector 224 is shown, having an elongated body 242 and an attachment portion 244 attached to a mounting portion (e.g., Figure 1 (as shown in 40). The body 242 may also include a recessed portion 243, which may reduce any resistance to bending of the body 242 when the body 242 is folded around an object, as discussed further below. Figure 21 and Figure 22 A cross-sectional view of a portion of the end effector 224 is shown, illustrating the attachment portion 244 (in...). Figure 21 The proximal sidewall 246 is connected to the attachment portion 244. The proximal sidewall 246 is also connected to the distal sidewall 248 via a flexible portion 250. The distal sidewall 248 includes an outwardly facing portion 252 and terminates at a contact surface 254 forming a defining aperture 256. The interior of the body 242 (within the proximal sidewall 246 and the distal sidewall 248) provides an open interior 258.

[0087] According to one aspect of the invention, the flexible portion 250 of the body 242 may be formed of an elastomeric material, polymeric material, or even a metallic material of a desired shape, having sufficient flexibility to allow the distal sidewall 48 to be drawn into the inner body 242 at least partially due to the application of a vacuum within the inner body while the object at least partially blocks the orifice 256, as discussed in more detail below. The proximal sidewall 46 and / or the distal sidewall 248 may also be formed of materials and shapes that provide additional flexibility. Typically, a vacuum is provided from the orifice 256 through openings in the attachment portion 244 and the mounting portion and through a hose to a vacuum source, as described above.

[0088] According to some aspects, the vacuum source can be switched to a positive pressure source pushing from the source toward the orifice 256 to force the object away from the contact surface 254 and push the distal sidewall 48 away. According to a further aspect, in addition to being formed of a flexible material, the flexible portion and / or the proximal and / or distal sidewalls can be formed of a material and shape that provides the desired spring constant. The desired spring constant can provide the body 242 to bias to Figure 20 The shape shown makes it such that when deformed (as referenced below) Figures 25 to 27 As discussed, the main body 242 will resist any deformation, at least partially contributing to restoring the main body 242 to its original shape (as well as...). Figure 20 (As shown).

[0089] refer to Figure 23 It shows Figure 20 According to certain aspects of the invention, the bottom surface of the end effector 224 may have a contact surface 254 defining an elongated opening. The elongated opening can act as a vacuum gripper, drawing an object and the contact surface 254 into the open interior. According to a further aspect, the contact surface 254' may be configured as a plurality of different contact surfaces defining a plurality of linearly arranged holes 256', such as... Figure 24 As shown. In particular, the multiple linearly arranged holes can act as a vacuum gripper through which the object and contact surface 254' are drawn into the open interior.

[0090] refer to Figure 25 When the contact surface 254 (or multiple surfaces 254') of the distal wall 248 contacts the elongated object 263, the object may partially or completely block it. Figure 25 The hole 256 (or multiple holes 256') shown causes the object 263 to be gripped by the end effector due to the vacuum applied through the hole 256 (or multiple holes 256'), the open interior 258, and the interior of the end effector mounting portion and the hose. Partial or complete blocking of the hole 256 results in the contact surface 254 (or multiple surfaces 254') and the object 263 being drawn into the open interior 258, partly due to the vacuum, and partly due to the flexibility of the flexible portion 250 and optionally the flexibility of the proximal sidewall 246 and / or the distal sidewall 248. Figure 25 The contact surface 254 (or multiple surfaces 254') and the object 263 that is fully inside the open interior 258 are shown.

[0091] Figure 26 and Figure 27 It shows Figure 25 The end effector and object cross-section diagram. Once as... Figures 25 to 27As shown in the engagement, object 263 is held both by vacuum and by the outer surface 252 of the distal wall 248, because the outer surface 252 of the distal wall 248 now faces object 263 and helps to include object 263 within the end effector, and the flexible portion 250 is now located below at least a portion of object 263.

[0092] Release of object 263 from end effector can be achieved by switching vacuum to a positive pressure air source, which causes the open interior 258 to expand, thereby radially outward pushing the distal wall 248. This causes the distal wall (and contact surfaces 254 / 254') to move outward from the body 242, pushing object 263 away from end effector 224. Alternatively, release of object 263 from end effector can be achieved by closing vacuum and allowing any of the flexible portion 250, proximal wall 246, and / or distal wall 248 with sufficient spring constant to radially outward push the distal wall 248. This causes the distal wall (and contact surfaces 254 / 254') to move outward from the body 242, pushing object 263 away from end effector 224.

[0093] refer to Figure 28 and Figure 29 According to another aspect of the invention, the end effector can be coupled to the end effector mounting portion of the programmable motion device as described above, and may further include a distal wall comprising a flexible portion attached not to its end, but to the middle portion of the distal wall. Specifically, Figure 28 The main body 252 and the connection portion 254 for coupling to the end effector mounting portion of the programmable motion device as described above are shown. Further reference... Figure 29 The body 252 includes a proximal sidewall 257 coupled to the connecting portion 254, and the proximal sidewall 257 is also coupled to a distal sidewall 261 via a flexible portion 260. The distal sidewall 261 includes an outwardly facing portion 262 and terminates at a contact surface 264 forming a defining aperture 266. The distal sidewall 261 also includes an outer edge portion 259. The interior of the body 252 (within the proximal sidewall and the distal sidewall 261) provides an open interior 268.

[0094] According to one aspect of the invention, the flexible portion 260 of the body 252 may be formed of an elastomeric material, polymeric material, or even a metallic material of a desired shape, having sufficient flexibility to allow the distal wall 261 to be drawn into the interior 268 of the body 252 at least partially due to the application of a vacuum within the inner body while an object at least partially blocks the orifice 266 (similar to the example described above). The proximal wall 257 and / or the distal wall 261 may also be formed of a material and shape that provides additional flexibility. Typically, the vacuum is supplied from the orifice 266 through openings in the connecting portion 254 and the mounting portion and through a hose to a vacuum source, as described above.

[0095] Similarly, according to certain aspects, the vacuum source can be switched to a positive pressure source pushing from the source toward the orifice 266 to cause the object away from the contact surface 264 and push the distal sidewall 261 away. According to a further aspect, in addition to being formed of a flexible material, the flexible portion and / or the proximal and / or distal sidewalls can be formed of a material and shape that provides the desired spring constant. The desired spring constant allows the body 252 to be biased to its original shape such that, upon deformation, the body 252 will resist any deformation, at least partially contributing to the restoration of the body 252 to its original shape (e.g., ...). Figure 28 (As shown).

[0096] Similarly, when the contact surface 264 of the distal wall 261 contacts the object 270, the object may partially or completely block the orifice 266, causing the object 270 to be gripped by the end effector due to the vacuum applied through the orifice 266, the open interior 268, and the interior of the end effector mounting portion and the hose. The result of partially or completely blocking the orifice 266 is that the contact surface 264 (and the object 270) will be drawn into the open interior 268, partly due to the vacuum, and partly due to the flexibility of the flexible portion 260 and optionally the flexibility of the proximal wall 257 and / or the distal wall 261.

[0097] Once such Figure 29 As shown in the engagement, object 270 is held both by vacuum and by the outer surface 262 and outer edge portion 259 of distal wall 261, because the outer surface 262 and outer edge portion 259 of distal wall 261 now face object 270 and facilitate inclusion of object 270 within the end effector, flexible portion 260 now faces object 270 on all its sides, and outer edge portion 259 is now partially located below object 270.

[0098] Release of object 270 from end effector can be achieved by switching vacuum to a positive pressure air source, which causes the open interior 168 to expand, thereby radially outward pushing the distal wall 261. This causes the distal wall (and contact surface 264) to move outward from the body 252, pushing object 270 away from end effector. Alternatively, release of object 270 from end effector can be achieved by closing vacuum and allowing any of the flexible portion 260, proximal wall 257, and / or distal wall 261 with sufficient spring constant to radially outward push the distal wall 261. This causes the distal wall (and contact surface 264) to move outward from the body 252, pushing object 270 away from end effector.

[0099] refer to Figure 30 According to another aspect of the invention, the end effector 300 includes a flexible body portion 302 attached to an end effector base 304, the end effector base being coupled to a connector 306 for mounting to a programmable motion device (such as...). Figure 1(Programmable motion device). The main body 302 includes a foldable dome 308 and a protective cover 310. The foldable dome 308 includes a plurality of holes 312 and a central hole 314. The flexible main body 302 also includes a plurality of supports 316, which are mounted on the inner surface 318 of the protective cover 310 near the generally circular base 321 of the foldable dome 308.

[0100] The shape of the shield 310 can typically be a truncated cone, and the outer edge 324 of the shield 310 can include alternating extending regions 322 (e.g., fan-shaped). According to one aspect, the outer edge 324 of the shield 310 can be planar (e.g., flat), such as... Figure 32 As shown, or it can be roughly planar, such as Figure 34 As shown. Reference Figure 31 When a vacuum is drawn through any of the multiple holes 312, 314 in the foldable dome 308, the contact surface of the flexible body (e.g., the foldable dome 308 and optionally at least a portion of the shield 310) may be drawn into the open interior of the end effector. Figure 31 The portion of the collapsible dome 308 and shield 310 inserted into the end effector is shown, with the outer 320 of the shield 310 shown, and alternating extension areas 322 being concentrated and drawn in to aid in object gripping.

[0101] Figure 32 It shows Figure 30 A side view of the end effector 300, with the foldable dome 308 inside the shield 310 shown in dashed lines. Figure 33 The bottom surface of the end effector 300 is shown, as are the holes 312, 314 and the bracket 316 on the inner surface 318 of the shroud 310. Figure 34 An end effector 300' is shown, comprising an end effector base 304 and a flexible body 302', the end effector base being coupled to a connector 306 for mounting to a programmable motion device. The flexible body 302' includes a shield 310' having an outer edge 324' that is not planar but becomes planar when engaging a planar object (when the alternating extension region 322' flattens on the object during engagement). Conversely, in Figures 30 to 33 In the end effector, the outer edge 324 of the shield 310 forms a flat surface including alternating extension regions 322. The area between the alternating extension regions 322 can provide multiple features that allow bending and / or folding to facilitate object gripping.

[0102] Figure 35An end effector 300″ is shown, comprising an end effector base 304 and a flexible body 302″, the end effector base being coupled to a connector 306 for mounting to a programmable motion device, the flexible body including a foldable dome 308′ extending over the outer edge 324 of a shield 310. Figures 30 to 35 In each end effector, the foldable dome can form part of the flexible body contact surface, and Figure 35 In the end effector, the foldable dome can provide the contact surface for the initial contact object.

[0103] Figure 36 and Figure 37 A flexible body 302 with a foldable dome 308 in a folded position is shown, wherein alternating extending regions 322 are centrally oriented to engage an object. Similarly, when the vacuum through the flexible body 302 is blocked by an object, the flexible body changes to... Figure 36 (Side view) and Figure 37 The location of the (bottom view). Figure 38 An end effector 300 is shown engaged with a non-rigid object 330 (e.g., an object with low-profile permissions, such as a plastic bag containing items). A portion 332 of the bag 330 is drawn into a flexible body 302 along with a collapsible dome 308. A shield 310 is drawn in centrally, and the inner surface of the shield 310 is designed to contain at least a portion of the non-rigid object 330. Additionally, the inner surface of the shield 310 provides a surface along which the portion 332 of the non-rigid object 330 must slide if the object were to slide out of the end effector. This engagement with the object is further secured by shear forces provided by angled contact portions to resist any downward sliding of the bag relative to the contact portions.

[0104] Similarly, Figure 39 An end effector 300 is shown engaged with a longer object 334 (e.g., an object with high attitude control, such as a rectangular frame). A portion 336 of the frame 334 is drawn into a flexible body 302 along with a collapsible dome 308. A shield 310 is drawn in centrally, and the inner surface of the shield 310 is designed to contain at least a portion of the object 334. Additionally, the inner surface of the shield 310 provides a surface along which the portion 336 of the object 334 must slide if the object were to slide out of the end effector. Similarly, this engagement with the object is further secured by shear forces provided by angled contact portions to resist any downward slippage of the bag relative to the contact portions. The object (330, 334) can be released by either removing a vacuum or providing positive pressure.

[0105] refer to Figure 40According to a further aspect of the invention, the end effector 340 may include a foldable dome 348 having fewer holes 352, 354 (central hole) and a shield 350 having an inner surface 358, an outer surface, and an extension region 362 as described above. Reference Figure 41 According to a further aspect of the invention, the end effector 370 may include a foldable dome 378 having fewer holes 382, ​​384 (central holes) and a shield 380. The shield 380 may include an inner surface 388, an outer surface, and an extension region 392, as discussed above, having a smaller number of holes than... Figure 30 and Figure 37 The end effector has a smaller additional bracket 356. Depending on the aspect, the brackets (316, 356) can help provide vacuum force to more of the object's outer surface when held.

[0106] Based on further aspects and reference Figure 42 The end effector 400 may include an end effector base 404 and a flexible body 402', the end effector base being coupled to a connector 406 for mounting to a programmable motion device. The flexible body 402 includes a shield 410 having an outer edge 424, and references... Figure 43 The inner surface of the flexible body may include one or more radially oriented support ribs 450, which provide rigidity to prevent excessive collapse of the flexible body 402. (Reference) Figure 44 The inner surface of the flexible body 402' may include one or more longitudinally oriented support ribs 452, which provide rigidity to prevent excessive collapse of the flexible body 402'.

[0107] Figure 42 The end effector base 404 of the end effector 400 may also include a stop member 440 for limiting the movement of the foldable dome into the end effector, such as Figure 45 Further illustrated, the stop member 440 may include a protrusion 442 that includes one or more holes 444 to allow non-atmospheric pressure airflow (e.g., vacuum) to pass through. Further reference... Figure 46 The protrusion 442 restricts the movement of the collapsible dome 408 into the end effector while allowing a large flow of non-atmospheric air (e.g., vacuum) to pass through it.

[0108] Those skilled in the art should understand that many modifications and variations can be made to the disclosed embodiments without departing from the spirit and scope of the invention.

Claims

1. An end effector for a programmable motion device, the end effector comprising a body including a proximal sidewall, a distal sidewall, and a flexible portion connecting the proximal sidewall to the distal sidewall, the proximal sidewall and the distal sidewall defining an open interior therebetween, the open interior being coupled to a vacuum source, and the distal sidewall having an outer surface adjacent to a contact surface for contacting an object to be grasped by the end effector, the contact surface at least partially defining an aperture leading to the open interior of the body through which a vacuum is applied for grasping the object, and wherein... The flexible portion connects the distal sidewall to the proximal sidewall such that when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked by the object, the contact surface of the distal sidewall and the object are pulled upward, and the outer surface of the distal sidewall moves to face the object.

2. The end effector of claim 1, wherein the flexible portion provides an engagement region, and the outer surface adjacent to the contact surface can move inward around the engagement region into the open interior.

3. The end effector of claim 2, wherein the outer surface faces away from the open interior, but the outer surface of the distal sidewall faces the object being grasped when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked.

4. The end effector of claim 1, wherein the outer surface of the distal sidewall is curved inward toward the open interior.

5. The end effector of any one of claims 1 to 4, wherein the proximal sidewall has an upper curved surface and the outer surface of the distal sidewall is a lower curved surface, the upper curved surface of the proximal sidewall being coupled to the lower curved surface of the distal sidewall at the flexible portion.

6. The end effector of claim 1, wherein the flexible portion includes a hinge portion.

7. The end effector of claim 1, wherein the body of the end effector is formed of a flexible material.

8. The end effector of claim 1, wherein the contact surface is circular.

9. The end effector of claim 1, wherein the contact surface is elongated.

10. The end effector of claim 1, wherein the contact surface comprises a plurality of linearly arranged contact areas.

11. The end effector of claim 1, wherein the contact surface is triangular.

12. An end effector for a programmable motion device, the end effector comprising a body including a proximal sidewall, a distal sidewall, and a flexible portion connecting the proximal sidewall to the distal sidewall, the proximal sidewall and the distal sidewall defining an open interior therebetween, the open interior being coupled to a vacuum source, and the distal sidewall having a curved outer surface adjacent to a contact surface for contacting an object to be grasped by the end effector, the contact surface at least partially defining an aperture leading to the open interior of the body through which a vacuum is applied for grasping the object, and wherein... The body also includes a flexible portion connecting the proximal sidewall to the middle portion of the distal sidewall, such that when the airflow drawn through the hole by the vacuum source is reduced due to the hole being at least partially blocked by the object, the contact surface of the distal sidewall and the object are pulled upward, and the outer surface of the distal sidewall moves to face the object.

13. The end effector of claim 12, wherein the flexible portion provides an engagement region, and the curved outer surface adjacent to the contact surface can move inward around the engagement region into the open interior.

14. The end effector of any one of claims 12 to 13, wherein the flexible portion allows the contact surface to be at least partially drawn into the open interior of the body when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked.

15. The end effector of claim 12, wherein the curved outer surface of the distal sidewall is curved inward toward the open interior.

16. The end effector of claim 12, wherein the proximal sidewall includes an upper curved surface that engages with the lower curved surface at the flexible portion.

17. The end effector of claim 12, wherein the flexible portion includes a hinge portion.

18. The end effector of claim 12, wherein the body of the end effector is formed of a flexible material.

19. The end effector of claim 12, wherein the contact surface is circular.

20. The end effector of claim 12, wherein the contact surface is elongated.

21. The end effector of claim 12, wherein the contact surface comprises a plurality of linearly arranged contact areas.

22. The end effector of claim 12, wherein the contact surface is triangular.

23. A method for applying an end effector of a programmable motion device to an object, the method comprising: An end effector is provided, the end effector including a body including a proximal sidewall, a distal sidewall and a flexible portion connecting the proximal sidewall to the distal sidewall, the proximal sidewall and the distal sidewall defining an open interior therebetween, the open interior being coupled to a vacuum source, and the distal sidewall having an outer surface adjacent to a contact surface for contacting an object to be grasped by the end effector, the contact surface at least partially defining an opening leading to the open interior of the body; The contact surface of the distal sidewall is joined to the object; as well as A vacuum is applied through the hole to grip the object. The flexible portion connects the distal sidewall to the proximal sidewall such that when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked by the object, the contact surface of the distal sidewall and the object are pulled upward, and the outer surface of the distal sidewall moves to face the object.

24. The method of claim 23, wherein the flexible portion provides an engagement region, and the outer surface adjacent to the contact surface is movable inwardly into the open interior around the engagement region.

25. The method of claim 24, wherein the outer surface faces away from the open interior, but when the airflow drawn through the orifice by the vacuum source is reduced due to the orifice being at least partially blocked, the outer surface of the distal sidewall faces the object being grasped.

26. The method of claim 23, wherein the outer surface of the distal sidewall is curved inward toward the open interior.

27. The method of any one of claims 23 to 26, wherein the body of the end effector is formed of a flexible material.

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