Systems and methods for object processing using passive collapse vacuum grippers

Abstract

A kind of end effector for programmable motion device is disclosed.The end effector includes a body, the body includes a contact portion, the body provides open interior, vacuum can be provided to the contact portion through the open interior, and the body includes at least one feature, the at least one feature is adapted to facilitate the contact portion becomes substantially non-planar when grabbing.

Description

[0001] priority

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 054,856, filed on July 22, 2020, the disclosure of which is incorporated herein by reference in its entirety. Background Technology

[0003] The present invention relates generally to programmable motion systems, and more particularly to end effectors for programmable motion devices (i.e., robot systems) for object handling, such as object sieving and object distribution.

[0004] For example, in some applications, end effectors for robotic systems can be used to select and grasp objects, and then move the acquired objects to a new location very quickly. Applications might include picking items from a bin and then placing them into another bin or other location. In many applications, to broaden the range of suitable applications, robotic picking systems must be able to pick a very wide range of object types. Therefore, it is necessary to enable the end-effector to grip as many different types of objects as possible.

[0005] There are many types of end-effector tools for gripping objects, including parallel grippers or finger-based grippers, as well as general-purpose grippers or jamming grippers that use a fluidized bed concept inside bags, electroadhesive grippers, and vacuum grippers. Vacuum grippers use vacuum pressure to pick up and hold objects for transport or subsequent manipulation via an articulated arm. However, vacuum grippers generally require a good seal with the object, and ensuring a good seal sometimes requires selecting specific suction cups corresponding to the object being gripped. Additionally, gripping certain objects (such as plastic bags) may require specific types of end effectors to ensure that the plastic bag does not peel off from the end effector or collapse under the force of the end effector, thereby damaging the bag and / or the seal. Furthermore, the lifting force may be limited by a amount proportional to the contact area of ​​the suction cups in a vacuum system, 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, and chucks that expand in openings within objects. For example, gripping grippers or finger grippers are sometimes used to grasp objects, but such systems also face challenges in certain applications. These systems generally require two opposing surfaces in a relative position to grasp the object, and finger grippers are mechanically complex, typically requiring multiple parts and actuation mechanisms to close and open the fingers.

[0007] End effectors are typically designed as single tools, such as grippers, welding machines, or paint sprayers, and are usually designed for a specific set of needs. There remains a need for an end effector in a programmable motion system that can easily and reliably select and grasp objects, and then move the grasped objects to a new location very quickly. There also remains a need for an end effector gripper capable of holding a wide range of objects with diverse materials and textures, with a rich variety of suitable gripping postures; capable of lifting loads beyond the limits achievable by suction grippers; without damaging the lifted objects; mechanically simple; and small and compact, without unintentionally gripping multiple items. 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 having a contact portion, the body providing an open interior through which a vacuum can be provided to the contact portion, and the body including at least one feature adapted to facilitate the contact portion becoming substantially non-planar during grasping.

[0009] According to another aspect, the present invention provides an end effector for a programmable motion device. The end effector includes a body having a contact portion, the body providing an open interior through which a vacuum can be provided to the contact portion, and the contact portion including at least one surface adapted to be pulled inward in response to the vacuum, such that the at least one surface can remain in contact with an object, while the at least one surface at least partially faces inward toward the open interior.

[0010] According to another aspect, the present invention provides a method for grasping an object using an end effector, the end effector including a body providing an open interior connected to a vacuum. The method includes: contacting a contact portion of the body with the object; applying a vacuum to the object through the contact portion to primarily engage the object by tension between the contact portion and the object; and, when grasping the object, allowing either the contact portion or its periphery to become non-planar, such that the contact portion becomes primarily engaged with the object via a shear force greater than the tension between the contact portion and the object. Attached Figure Description

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

[0012] Figure 1An illustrative schematic view of an object processing system including a programmable motion device with an end effector according to an aspect of the present invention is shown;

[0013] Figure 2 It shows Figure 1 A bottom side view illustrating the sensory system;

[0014] Figure 3 Showing from Figure 1 An illustrative diagram of the object box to be processed by the sensing system;

[0015] Figure 4 An illustration is shown according to one aspect of the invention. Figure 1 Illustrative front view of the end effector of the passive folding vacuum gripper;

[0016] Figure 5 It shows along Figure 4 The line cut from 5-5 Figure 4 An illustrative side view of the end effector;

[0017] Figure 6 It shows along Figure 5 The line 6-6 was cut Figure 5 An illustrative cross-sectional view of the end effector;

[0018] Figure 7 It shows Figure 6 An illustrative cross-sectional view of the end effector in the clamping position;

[0019] Figure 8 It shows Figure 4 An illustrative diagram of an end effector in an isometric front view;

[0020] Figure 9 It shows Figure 4 An illustrative bottom view of the end effector;

[0021] Figure 10 An illustrative, representative cross-sectional view of an end effector according to various aspects of the invention is shown in a stationary state.

[0022] Figure 11 It shows Figure 10 Illustrative diagram of a representative cross-section of an end effector grasping a deformable object;

[0023] Figure 12 It shows Figure 10 A representative cross-sectional diagram illustrating the use of an end effector to grasp a rigid object;

[0024] Figure 13An illustrative, representative cross-sectional view of a rigid cup-shaped end effector attempting to grasp a deformable object is shown.

[0025] Figure 14 It shows Figure 10 The end effector in grasping Figure 13 Illustrative diagrams comparing representative cross-sections of deformable objects;

[0026] Figure 15 An illustrative front isometric view of an end effector according to another aspect of the invention is shown, the end effector including a curved feature in the contact surface of the end effector;

[0027] Figure 16 It shows Figure 15 An illustrative bottom view of the end effector;

[0028] Figure 17 An illustrative front isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising three finger-like portions associated with a contact surface;

[0029] Figure 18 An illustrative front isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising three finger-like portions and a protective shield surrounding the three finger-like portions;

[0030] Figure 19 An illustrative front view of an end effector according to another aspect of the invention is shown, the end effector comprising three finger-like portions, wherein the body includes bending features to facilitate bending of the contact surface;

[0031] Figure 20 It shows Figure 19 An illustrative bottom view of the end effector;

[0032] Figure 21 An illustrative isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising three finger-like portions, wherein the body includes nodules to facilitate bending of the contact surface;

[0033] Figure 22 It shows Figure 21 An illustrative bottom view of the end effector;

[0034] Figure 23 An illustrative isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising three finger-like portions, wherein the body is generally cylindrical and includes pinched regions to facilitate bending of the contact surfaces;

[0035] Figure 24 It shows Figure 23 An illustrative bottom view of the end effector;

[0036] Figure 25 An illustrative isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising two finger-like portions, wherein the body is generally cylindrical and includes recessed features to facilitate bending of the contact surface;

[0037] Figure 26 It shows Figure 25 An illustrative diagram of the end effector during grasping;

[0038] Figure 27 It shows Figure 25 An illustrative bottom view of the end effector;

[0039] Figure 28 An illustrative isometric view of an end effector according to another aspect of the invention is shown, the end effector comprising a collapsible dome and a protective shield;

[0040] Figure 29 It shows Figure 28 An illustrative diagram of the end effector during grasping;

[0041] Figure 30 It shows Figure 28 An illustrative side view of the end effector;

[0042] Figure 31 It shows Figure 28 An illustrative bottom view of the end effector;

[0043] Figure 32 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, the end effector comprising a collapsible dome and a shield having a fan-shaped edge;

[0044] Figure 33 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, the end effector including a shield and a collapsible dome extending beyond the shield before gripping;

[0045] Figure 34 It shows Figure 28 An illustrative side view of the end effector during grasping;

[0046] Figure 35 It shows Figure 34 An illustrative bottom view of the end effector;

[0047] Figure 36 It shows Figure 28 An illustrative side view of an end effector grasping a deformable object;

[0048] Figure 37 It shows Figure 28 An illustrative side view of an end effector gripping a rigid object;

[0049] Figure 38 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, the end effector comprising a collapsible dome with fewer holes, a shield, and an extension region;

[0050] Figure 39 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, the end effector comprising a collapsible dome with fewer holes, a shield, an extension region, and an additional support.

[0051] Figure 40 An illustrative schematic side view of an end effector according to another aspect of the invention is shown, the end effector including a connector attached to a flexible body;

[0052] Figure 41 It shows a structure with inner circumferential support ribs. Figure 40 An illustrative cross-sectional side view of the flexible body;

[0053] Figure 42 It shows a support rib with axial extension. Figure 40 An illustrative cross-sectional side view of the flexible body;

[0054] Figure 43 A stop member is shown. Figure 40 An illustrative diagram of the flexible body, an isometric front view; and

[0055] Figure 44 It shows Figure 43 An illustrative side view of the flexible body and the stop mechanism.

[0056] The accompanying drawings are shown for illustrative purposes only. Detailed Implementation

[0057] According to one aspect, the present invention provides an end effector for a programmable motion device, wherein the end effector includes a contact surface supported by a support housing, the support housing being adapted to facilitate the contact surface becoming non-planar during grasping.

[0058] End effectors can be used with programmable motion devices in object handling systems. For example, Figure 1An object handling system 10 is shown, comprising an object handling station 12 located between an infeed conveyor 16 carrying an infeed bin 14 and a destination conveyor 20 carrying a destination container 18. The object handling 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 selected infeed bins 14', which are diverted (selected) by a diverter 17 to move along the selected infeed conveyor 16'. The sensing system 26 is also positioned to sense destination containers 18' provided on a processing destination conveyor section 20' of the destination conveyor 20. Operation of the system is controlled by one or more computer processing systems 100 communicating with the conveyors 16, 16', diverter 17, conveyor 20, programmable motion device 22 (including end effector 24), and sensing system 26.

[0059] The object processing station 12 includes an infeed conveyor section 16' that uses a diverter 17 to circulate supply boxes 14' back and forth between the infeed conveyor 16. The end effector 24 of the programmable motion device 22 is programmed to grab objects from the supply boxes 14' and move them by placing or dropping them into destination containers 18' at the destination conveyor loading area 20', delivering them to the desired destination box 18 on the destination conveyor loading area 20'. The supply boxes 14' can then be returned to the infeed conveyor 16 and optionally carried to another processing station. Thus, at processing station 12, one or more supplier supply boxes 14 are guided to the infeed area, and the programmable motion device 22 is actuated to grab objects from the boxes 14' and place them into the selected destination container 18'. The processed supplier boxes 14' then return to the common input stream on the conveyor 16, and the destination container 18' moves further along the destination conveyor 20.

[0060] 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 in the box 14, providing sensing data from which the contents of the box can be identified, and subsequently knowing its relative position on the conveyor 16 and tracking its position. According to one aspect, it is assumed that the object boxes are marked with visually distinguishing 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, making them sufficient to be recognized 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 symbol or marking methods can be employed. It is assumed that the type of scanner used is compatible with the marking method. For example, the identification marking (e.g., a string of symbols) is encoded by marking through barcodes, RFID tags, mailing tags, or other means, typically a string of letters and / or numbers. This string of symbols uniquely associates the supplier box with a specific set of homogeneous objects. Based on the identification code on the feed box 14', the system can allow the box 14 to continue moving along the feed conveyor 16, or use the diverter 17 to guide the selected box 14' onto the selected feed conveyor 16'.

[0061] At the selected feed conveyor 16' at object processing station 12, sensing system 26 assists (using central control system 100—e.g., one or more computer processing systems) in locating and grasping objects in feed bin 14' using programmable motion device 22, including end effector 24. According to another aspect, each object may also be marked with visual distinguishing tags, such as barcodes (e.g., providing UPC codes), QR codes, or radio frequency identification (RFID) tags or mail tags, making them identifiable by a scanner for processing. The type of tag depends on the type of scanning system used but may include 1D or 2D code symbols. Similarly, multiple symbols or marking methods may be used for each object.

[0062] refer to Figure 2 In object processing station 12, a downward-looking sensing system 26 senses sensing data from one or more objects within a selected feed box 14' on a selected feed conveyor 16'. The sensing system 26 is mounted above the object box, near the base of the articulated arm 22, and looks downwards at box 14'. For example, and as... Figure 2As shown, the perception system 26 may include (on its underside) a camera 26, 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 box, as discussed in more detail below.

[0063] Figure 3 A view of a box 14' from sensing system 26 is shown. The image view shows box 14' (e.g., on conveyor 16') and box 14' contains objects 32, 34, 36, and 38, some of which 35, 36, and 38 are provided in a flexible package such as a bag, and may include one or more heavier (e.g.,) objects 37 that may be loosely located within the bag 35. Additionally, providing certain objects (e.g., 36) in the bag allows some portions of the bag to fold over the other portions. While in some systems the objects in each feed box may be homogeneous, in other systems, such as... Figure 3 As shown, the object can 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 good, 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 that may not provide a good vacuum seal (such as lids, seams, etc.).

[0064] If an object cannot be fully detected by the detection system, the system considers it to be two different objects and may propose more than one candidate grasp for both. If the system performs a grasp at any of these undesirable grasping locations, numerous errors can occur. The grasp may fail to acquire the object because of a poor grasping point where a vacuum seal will not be achieved, or the grasp may acquire the object at a grasping location very far from the object's center of mass (and thus cause significant instability during any attempted transport). Each of these outcomes is undesirable.

[0065] If a poor grasping position is experienced, the system can remember the position of the associated object. By identifying good and bad grasping positions, a correlation is established between features in 2D / 3D images and the concept of good or bad grasping positions. Using this data and these correlations as input to a machine learning algorithm, the system can ultimately learn, for each image presented to it, where to best grasp objects and where to avoid grasping them.

[0066] Similarly, the operation of the system described above is coordinated with a central control system 100, which also communicates (e.g., wirelessly) with articulated arms 22, sensing units 19, 26, 28, and 30, and feeder conveyors 16, 16', distributor 17, and destination conveyor 20. The system determines the UPC associated with the supplier box and the outbound destination for each object from a string of symbols. 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.

[0067] Figure 1 The end effector 24 is connected to the end effector mounting section 40 of the programmable motion device 22. For example... Figure 4 As shown, the end effector 24 provides a passively folding vacuum gripper that passively folds the portion (e.g., claws or fingers) around an item that needs to be gripped, such as a non-rigid item (e.g., a bag) or a small cylindrical item (e.g., a pen), but otherwise acts as a suction cup for flat, rigid items (e.g., a box). This passively folding vacuum gripper automatically adapts to the item and is not actuated except by switching the vacuum source; it acts as a multi-finger when needed and as a suction cup when required.

[0068] Specifically, the end effector 24 includes a connection portion 44 for coupling to the end effector mounting section 40 (also in...). Figure 1 (As shown in the diagram). The end effector 24 also includes a body 50, which includes a contact portion 52, an upper portion 54 coupled to the connection portion 44, and a lower portion 56 coupled to the contact portion 52. The body 50 also includes a pair of feature members 58 (also as shown in the diagram). Figure 5 , Figure 8 and Figure 9 As shown in the diagram, the pair of features promotes the contact portion 52 to become non-planar, as discussed further below. Figure 5 A side view of the end effector 24 is shown, which shows the recessed feature 58. Figure 6 It shows along Figure 5 The cross-sectional view of the end effector 24, taken by line 6-6. (See also...) Figure 6 As shown, the contact portion 52 includes features 60, 62, and 64 in the form of V-shaped grooves on the inner surface 53 of the contact portion 52, as shown in the figure.

[0069] refer to Figure 7 When an object is grasped by the end effector 24, the body 50 is permitted to change its shape according to the grasped object. The gripper folds the fingers due to its shape. When the suction cup port is sealed, the shape and thickness of the gripper walls, as well as the evacuation of the open internal cavity, cause the gripper's fingers to fold inward. The mechanical drive causing the gripper to fold is passive and is achieved solely through vacuum. No motor, gear, or other mechanism is employed to cause the fingers to fold; however, the passive mechanical actuation provides a multi-finger hand when needed and a suction cup when required.

[0070] The contact portion includes a hole 68 that provides a vacuum to the outer surface of the contact portion 52 through the open interior of the body 50. Generally, this is achieved through... Figure 1 The hose 41 of the vacuum source 43 shown provides vacuum from the hole 68 through the opening in the connecting part 44 and the mounting section 40.

[0071] According to some aspects, the vacuum source 43 can be switchable to become a positive pressure source, which is pushed from the source 43 to the orifice 68 to push the object away from the contact surface 52 and to push the contact surface distally. According to another aspect, in addition to being formed of a flexible material, the body can also be formed of a material and shape that provides the required spring constant. The required spring constant allows the body 50 to be biased to... Figure 4 and Figure 5 The shape shown is such that when deformed (as discussed herein), the body 50 will resist any deformation, thereby at least partially assisting in causing the body 50 to return to its original shape (as also...). Figure 4 and Figure 5 (as shown in the image).

[0072] Figure 8 The outer surface of the contact portion 52 is shown, which illustrates the hole 68 and the V-shaped channel features 60, 62, 64 (in dashed lines) on the inner surface of the contact portion 52. Further reference... Figure 9 V-shaped channel features 60 extend between opposing features 58 and facilitate bending of the contact portion 52 along the center of the contact portion, as indicated approximately at A. V-shaped channel features 62 and 64 facilitate bending of the contact portion 52 near the lower portion 56, as indicated approximately at B and C. Figures 4 to 9In the example, features 58, 60, 62, and 64 cooperate to provide sufficient flexibility to the body 50, allowing the end effector to respond by folding when grasping a flexible object, as discussed above. This movement and bending allows the contact portion 52 to become non-planar, and in the process, the sides 61 and 63 are pulled toward each other. According to other embodiments, various combinations of features (or even certain features individually) can be used to facilitate bending of the contact surface. This bending of the contact surface alters the adhesion dynamics between the object (e.g., a flexible bag) and the end effector, as discussed in more detail below.

[0073] Figure 10 An end effector 70 in a stationary state is shown, comprising a body 72 with a contact portion 74. The contact portion 74 includes an aperture 76 (through which a vacuum is provided) and V-shaped channels 80, 82, 84 similar to V-shaped channel features 60, 62, 64. The body 72 also includes a channel feature 86 that facilitates narrowing of the body 72 during deformable gripping. For example, Figure 11 An end effector 70 is shown that uses a vacuum applied through a hole 76 in the contact portion 74 to grasp a deformable object 78. Channel features 80, 82, 84, and 86 facilitate bending of the contact portion 74 under vacuum when the end effector 70 grasps the deformable object 78. Reference Figure 12 When gripping a non-deformable (e.g., rigid) object 79, the end effector does not bend; instead, the contact portion 74 of the end effector remains attached to the rigid object 79. For rigid articles, the gripper does not fold. The face of the gripper may include a number of small holes, the size and distribution of which can vary. A larger hole may also be provided at the center of the contact portion to allow a larger volume of air to travel through the center of the contact portion, thus aiding in balancing any folding forces in the case of a rigid object.

[0074] Therefore, according to various aspects, the present invention provides a passively folding vacuum gripper that securely clamps bagged objects, securely clamps rigid objects (even rigid objects with curved surfaces), and reduces the damage that conventional vacuum grippers may cause to objects.

[0075] For example, when dealing with bagged items in loosely packaged plastic bags, the internal volume of the gripper is evacuated when the opening is blocked by the loose plastic bag, and the gripper walls and mating surfaces bend inward as described above. Typically, rigid suction cups with small openings cannot easily grip loose bags because the plastic film is easily peeled off. For example, Figure 1Figure 3 shows a rigid vacuum cup end effector 90 comprising a body having a contact portion 94 with vacuum orifices 96. When the rigid vacuum cup is used to attempt to lift an unstable bag 98, one or more portions of the bag around the contact area may easily peel off from the contact portion at a contact angle of less than 180 degrees between the bag and the end effector. Pulling the film easily overcomes the smaller vacuum force on the rest of the packaging; this results in a series of clamping failures at each orifice.

[0076] In the case of a two-finger gripper (as discussed above), the folding suction cup pulls the bag into the shrink crease that holds the bag in place. In the case of a three-finger gripper (as discussed below), when the film is stretched into a cone shape, it is partially held by friction as the film drags across the surface of the folding suction cup. Furthermore, the conical shape of the plastic film is unlikely to peel off the suction cup because the edges of the cone form an angle greater than 180 degrees, and swaying will generally not reduce this angle below 180 degrees.

[0077] For example, Figure 14 A gripper 70 is shown that uses a vacuum applied through a hole 76 in the contact portion 74 to grasp a deformable object 78. Channel features 80, 82, 84, and 86 make it easier for the end effector 70 to cause the contact portion 74 to bend under vacuum when grasping the deformable object 78. Notably, the holding force between the bag and the end effector is not limited to the tensile strength of any vacuum adhesion, but also relies on the shear force provided by the inclined contact portion to resist any downward slippage of the bag relative to the contact portion. This provides a significantly more stable grip.

[0078] For flat, rigid objects (such as box surfaces), the end effector can operate on rigid surfaces (i.e., without shape change) in a manner similar to that of a conventional vacuum disc, where necessary. Specifically, when the gripper engages with a flat surface, the rigidity of the gripped item prevents the gripper from changing shape or folding, and all orifices expose the vacuum to the flat surface. The distribution of port sizes can be selected such that the forces at the center (e.g., the central triangle in the case of the three-finger gripper discussed below) balance the folding forces, keeping the entire surface in contact with the item. For curved rigid objects (such as blister packs) and smaller cylindrical objects (such as pens), the folding action allows the fingers to wrap around small items. The end effectors of various aspects of the present invention also mitigate damage caused by conventional vacuum gripping by providing support for the packaging material.

[0079] When the vacuum source is turned off, the bent surface returns to its original state—that is, the gripper unfolds to its original shape. Shape change is passively achieved by using the movement of the end effector relative to various features, triggered by the blockage of the gripper orifice under vacuum. In some applications, a positive pressure source can be provided by switching the vacuum line to a positive air source to facilitate pushing the object from the end effector and / or more quickly cause the end effector to return to its pre-gripping shape.

[0080] Figure 15 An end effector 100 according to another aspect of the invention is shown, which includes a bending feature only on the contact portion of the body. Specifically, the end effector 100 includes a body 108 having a mounting section 40 for coupling to the end effector (in... Figure 1 The connecting portion 114 (shown) is also included. The main body 110 further includes a contact portion 102 near the lower portion 106 and an upper portion 104 near the connecting portion 114. Except for the end effector 100, which does not include (in portions 104, 106) Figure 8 The feature 58 is not included in the contact portion 102. Figure 8 Apart from the V-shaped channel features 60, 62, and 64, the end effector 100 is similar to Figure 8 The end effector shown. Figure 15 In the case of the end effector (and further refer to) Figure 16 The feature that promotes bending of the contact surface includes a specific layout of holes 108.

[0081] Hole group 120 forms a line generally indicated by DD, and facilitates bending of the contact surface along the line generally indicated by DD. Hole group 122 also forms a line generally indicated by EE (but shorter), and facilitates bending of the contact surface along the line generally indicated by EE. Hole group 124 also forms a short line generally indicated by FF, and facilitates bending of the contact surface along the line generally indicated by FF. The lines of hole 120 are designed to allow the contact portion of the end effector to bend along line DD into the open interior (similar to the bending of the end effector contact portion 52 along channel 60), and the lines of holes 122 and 124 are designed to allow the contact portions to bend along lines EE and FF (similar to the bending of the end effector contact portion 52 along channels 62 and 64). This movement and bending allows the contact portion 102 to become non-planar, and in the process, the sides 126 and 128 are pulled towards each other.

[0082] The end effector described above can generally be referred to as a two-finger (or claw-like) end effector because the two parts are close to each other during grasping. Also, as noted above, this type of technology can be used with three or more finger-like end effectors. For example, Figure 17 A three-finger end effector 130 is shown, which includes: a body 132 having a connection for attaching to an articulated arm 22 (in... Figure 1 The figure shows the connecting portion 135 of the mounting section 40 (shown in the figure); and the contact section 134 for contacting the object to be grasped. The contact section 134 generally includes three extension sections 140, 142, 144 that engage in a central region 146. The three extension sections may include holes 136 with a fixed smaller size, while the central region 146 may include a larger hole 138 and a maximum hole 148 located at the center of the three extension sections, as shown. When engaging a flat, rigid surface, the larger size of the holes in the central region helps the central region remain flat. The end effector 130 causes holes 137 along a line adjacent to the central region 146 of each extension section to provide features that facilitate bending of each extension section relative to the central region. Since the holes 136 are provided in rows along the extension sections, each subsequent row may also provide additional features that facilitate bending of each extension section relative to the central region.

[0083] Figure 18 Another three-finger end effector including a shield or skirt is shown. End effector 150 includes: a body 152 having a design for coupling to an articulated arm 22 (in... Figure 1 The figure shows the connecting portion 155 of the mounting section 40; and the contact section 154 for contacting the object to be grasped. The contact section 154 generally includes three extension sections 160, 162, 164 that engage in a central region 166. The three extension sections may include holes 156 of a fixed smaller size, while the central region 166 may include a larger hole 168 located at the center of the three extension sections, as shown. The body 152 of the end effector 150 also includes a shroud 158 that surrounds the extension sections of the contact portion and extends slightly below the contact portion, which helps maintain vacuum contact with the object. The end effector 150 also causes holes 157 along a line adjacent to the central region 166 of each extension section to provide features that facilitate bending of each extension section relative to the central region. Since the holes 156 are provided in rows along the extension sections, each subsequent row may also provide additional features that facilitate bending of each extension section relative to the central region.

[0084] Figure 19 and Figure 20 A three-finger end effector is shown, comprising a body having one or more bending features. The end effector 170 includes: a body 172 having a design for coupling to a hinged arm 22 (in... Figure 1The figure shows the connecting portion 175 of the mounting section 40; and the contact section 174 for contacting the object to be grasped. The body 172 includes one or more (e.g., three) curved features 171 in the form of a contracted area of ​​the body surface, and one or more (e.g., three) curved features 173 in the shroud 178, both of which can facilitate bending of the contact portion when grasping a non-rigid object. The contact section 174 generally includes three extension sections 180, 182, 184 that engage in a central region 186. The three extension sections may include holes 176 with a fixed smaller size, while the central region 186 may include a larger hole 188 located at the center of the three extension sections, as shown. The end effector 170 also includes a shroud 178 that surrounds the extension sections of the contact portion and extends slightly below the contact portion, which helps maintain vacuum contact with the object.

[0085] The end effector 170 also provides holes 177 along the line adjacent to the central region 186 of each extension segment, providing features that facilitate bending of each extension segment relative to the central region. Since the holes 176 are provided in rows along the extension segments, each subsequent row can also provide additional features that facilitate bending of each extension segment relative to the central region. Furthermore, the body 172 may include one or more (e.g., three) features 173 that cause the outer portion of the body 172 to contract, which also pulls a portion of the shield proximally (towards the connecting portion 175) as indicated by 178. These features 173, 177 also facilitate bending of the respective extension segments relative to the central region. The end effector 170 may also include additional holes 190 and brackets 192 for securing the shield 178 to the body 172.

[0086] Figure 21 and Figure 22 Another three-finger end effector is shown, which includes a body having multiple nodules as bending features. The end effector 200 includes: a body 202 having a design for attachment to a hinged arm 22 (in... Figure 1 The figure shows the connecting portion 205 of the mounting section 40 (shown in the figure); and the contact section 204 for contacting the object to be grasped. The contact section 204 generally includes three extension sections 210, 212, 214 that engage in a central region 226. The three extension sections may include holes 216 with a fixed smaller size, while the central region 226 may include a larger hole 228 located at the center of the three extension sections, as shown. The body also includes three nodules 203 that mate with the extension sections 210, 212, 214, and the nodules 203 facilitate the contact portion becoming non-planar when grasping a non-rigid object. The end effector 200 also includes a shield 208 that surrounds the extension sections of the contact portion and extends slightly below the contact portion, which helps maintain vacuum contact with the object.

[0087] The end effector 200 also provides orifices 207 along the line adjacent to the central region 226 of each extension segment, which provide features that facilitate bending of each extension segment relative to the central region. Since orifices 216 are provided in rows along the extension segments, each subsequent row can also provide additional features that facilitate bending of each extension segment relative to the central region. Furthermore, the body 202 may include one or more (e.g., three) recessed features that define each nodule 203 that causes the outer portion of the body 202 to contract, resulting in axial restriction of the central axis of the path of the features toward the vacuum. These features 203, 207 also facilitate bending of the respective extension segments relative to the central region. The end effector 200 may also include additional orifices 228 near the central region 226 to facilitate the movement of a large amount of air along the central path when the end effector is under vacuum.

[0088] Figure 23 and Figure 24 Another three-finger end effector is shown, comprising a generally cylindrical body having multiple curved features in the form of contracted regions on the surface of the body. End effector 230 includes: a body 232 having features for coupling to a hinged arm 22 (in... Figure 1 The figure shows the connecting portion 235 of the mounting section 40 (shown in the figure); and the contact section 234 for contacting the object to be grasped. The contact section 234 generally includes three extension sections 240, 242, 244 that engage in a central region 226. The three extension sections may include holes 216 with a fixed smaller size, while the central region 246 may include a larger hole 248 located at the center of the three extension sections, as shown. The body also includes one or more (e.g., three) curved features 233 in the form of contracted areas on the surface of the body, which are registered with extension sections 240, 242, 244, and the nodules 233 facilitate the contact portion becoming non-planar when grasping a non-rigid object. The end effector 230 also includes a shield 238 that surrounds the extension sections of the contact portion and extends slightly below the contact portion, which helps maintain vacuum contact with the object.

[0089] The end effector 230 also provides orifices 237 along the line adjacent to the central region 246 of each extension segment, which provide features that facilitate bending of each extension segment relative to the central region. Since orifices 256 are provided in rows along the extension segments, each subsequent row can also provide additional features that facilitate bending of each extension segment relative to the central region. Similarly, the body 232 may include one or more (e.g., three) contraction features 233, which result in axial restriction of the central axis of the path of said features toward the vacuum. These features 233, 237 also facilitate bending of the respective extension segments relative to the central region. The end effector 230 may also include orifices 248 of a larger diameter near the central region 246 to facilitate the movement of a large amount of air along the central path when the end effector is under vacuum.

[0090] Figures 25 to 27 A two-finger end effector is shown, comprising a cylindrical body with walls including recessed or thinned regions to provide bending features. The end effector 260 includes: a body 262 having a design for coupling to a hinged arm 22 (in... Figure 1 The connecting portion 265 of the mounting section 40 (shown in the figure); and the connection portion 265 for accessing the vacuum passage hole 263 (in Figure 27 (As shown in the diagram) the contact segment 264 that contacts the object to be grasped. The contact segment 264 may generally include two extension segments 266 and 268 (in...) Figure 26 (As shown in the diagram). The end effector 260 also causes the actuator to move along approximately... Figure 27 The hole 267 in the line indicated by GG provides a feature that facilitates bending of the contact segment. Furthermore, the body 262 may include one or more (e.g., two) recessed features 273 that allow partial collapse of the outer portion of the body 262, resulting in axial restriction of the central axis of the path of the features toward the vacuum. These features 267, 273 also facilitate bending of the respective extended segments relative to the central region. Therefore, the end effector 260 can provide a more cylindrical body that, when its contact portion is under a vacuum, such as that applied to an object, is adapted to change shape to fold as discussed above to better grip the object through the contact portion 264.

[0091] Figures 15 to 27 Each end effector in the end effector allows the contact surface to be accessed via the reference above. Figures 4 to 14 The surface is bent into a non-planar shape as described, thereby allowing the outer surface to grip the object at least partially using friction, thus facilitating retention of the non-rigid object during movement.

[0092] refer to Figure 28According to another aspect of the invention, the end effector 300 includes a flexible body portion 302 attached to an end effector base 304, which is coupled to a device for mounting to a programmable motion device (such as...). Figure 1 The connector 306 of the programmable motion device. The main body 302 includes a collapsible dome 308 and a protective cover 310. The collapsible 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 mounted on the inner surface 318 of the protective cover 310 near a generally circular base 322 adjacent to the collapsible dome 308.

[0093] The shield 310 may be generally truncated conical, and the outer edge 324 of the shield 310 may include alternating extending regions 322 (e.g., fan-shaped). According to one aspect, the outer edge 324 of the shield 310 may be planar (e.g., flat), such as... Figure 30 As shown; or it can be generally planar, such as... Figure 32 As shown in the image. Reference Figure 29 When a vacuum is drawn through any of the openings 312, 314 in the collapsible dome 308, the contact surface of the flexible body (e.g., the collapsible dome 308 and optionally at least a portion of the shield 310) may be pulled into the open interior of the end effector. Figure 29 The diagram shows a portion of a collapsible dome 308 and a shield 310 being pulled into the end effector, with the outer side 320 of the shield 310 shown, wherein alternating extension regions 322 are pulled in the center to assist in grasping objects.

[0094] Figure 30 It shows Figure 28 A side view of the end effector 300, which shows the collapsible dome 308 inside the shield 310 in dashed lines, and Figure 31 The bottom side of the end effector 300 is shown, which shows holes 312, 314 on the bottom side 318 of the cover 310 and a bracket 316. Figure 32 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 non-planar but becomes planar when engaging a planar object (when the alternating extension regions 322' flatten upon engagement). Conversely, in Figures 28 to 31 In the end effector, the outer edge 324 of the shield 310 forms a planar surface including alternating extension regions 322. The area between the alternating extension regions 322 can provide multiple features that allow for flexure and / or bending to facilitate object gripping.

[0095] Figure 33 An end effector 300″ is shown, comprising an end effector base 304 and a flexible body 302″. The end effector base is coupled to a connector 306 for mounting to a programmable motion device. The flexible body includes a collapsible dome 308′ extending beyond the outer edge 324 of a shield 310. Figures 28 to 33 In each of the end effectors, a portion of the collapsible dome can form the contact surface of the flexible body, and... Figure 33 In the end effector, a collapsible dome can provide a contact surface for the object that initially comes into contact.

[0096] Figure 34 and Figure 35 A flexible body 302 is shown, in which a collapsible dome 308 is in a collapsed position, and alternating extension regions 322 are centrally guided to engage an object. Similarly, when the vacuum through the flexible body 302 is blocked by an object, the flexible body changes to... Figure 34 (Side view) and Figure 35 The position of (bottom view). Figure 36 An end effector 300 is shown engaged with an object 330 (e.g., an object with low-level authority, such as a plastic bag containing items). A portion 332 of the bag 330 is pulled into a flexible body 302 along with a collapsible dome 308. A shield 310 is centrally pulled, and the inner surface of the shield 310 is designed to receive at least a portion of the object 330. Additionally, the inner surface of the shield 310 provides a surface along which the portion 332 of the object 330 must slide if the object were to slip out of the end effector. This engagement with the object further retains the object by shear forces provided by the angled contact portions, resisting any downward sliding of the bag relative to the contact portions.

[0097] Similarly, Figure 37 An end effector 300 is shown engaged with an object 334 (e.g., an object with high attitude control, such as a rectangular box). A portion 336 of the box 334 is pulled into a flexible body 302 along with a collapsible dome 308. A shield 310 is pulled in the center, and the inner surface of the shield 310 is used to receive 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 slip out of the end effector. Similarly, this engagement with the object is further secured by shear forces provided by the angled contact portions against any downward sliding of the bag relative to the contact portions. The object (330, 334) can be released by removing a vacuum or providing positive pressure.

[0098] refer to Figure 38Furthermore, according to another aspect of the invention, the end effector 340 may include a collapsible dome 348 having fewer holes 352, 354 (central holes), and a shield 350 having an inner surface 358, an outer surface, and an extension region 362, as discussed above. Reference Figure 39 Furthermore, according to another aspect of the invention, the end effector 370 may include a collapsible dome 378 having fewer holes 382, ​​384 (central holes) and a shroud 380. The shroud 380 may include an inner surface 388 and an outer surface as discussed above, as well as an extension region 392, and has a greater... Figure 30 and Figure 37 The end effector has a smaller additional support 356. Depending on the aspect, the supports (316, 356) can facilitate the application of vacuum force to more of the object's outer surface when the object is held.

[0099] According to other aspects and reference Figure 40 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 41 The inner surface of the flexible body may include one or more inner circumferential support ribs 450 to provide rigidity and prevent excessive collapse of the flexible body 402. (Reference) Figure 42 The inner surface of the flexible body 402′ may include one or more axial support ribs 452 that provide rigidity to prevent excessive collapse of the flexible body 402′.

[0100] like Figure 43 Furthermore, Figure 40 The end effector base 404 of the end effector 400 may also include a stop member 440 for limiting movement of the collapsible dome into the end effector. The stop member 440 may include a protrusion 442 having one or more holes 444 to allow air at a pressure different from atmospheric pressure (e.g., vacuum) to flow through it. Further reference Figure 44 The protrusion 442 restricts the movement of the collapsible dome 408 into the end effector, while allowing a large amount of air at a pressure different from atmospheric pressure (e.g., vacuum) to flow through it.

[0101] According to the above reference Figures 4 to 44The various aspects of the invention discussed herein allow the body to change shape according to the object being grasped when it is gripped by the end effector. The gripper folds due to the shape of the gripper body and any features. When the suction cup port is sealed, the shape and thickness of the gripper walls, along with the evacuation of the open internal cavity, cause the gripper's fingers to fold inward. The mechanical actuation causing the gripper to fold is passive and is achieved solely by vacuum. No motor, gear, or other mechanism is employed to cause the fingers to fold; however, the passive mechanical actuation provides a multi-finger hand when needed and a suction cup when required. The contact portion includes an aperture that provides a vacuum to the outer surface of the contact portion through the open interior of the body. Generally, the vacuum is provided from the aperture through a hose to a vacuum source passing through openings in the connection portion and mounting section, as discussed above. Each end effector disclosed herein can be coupled with… Figure 1 In the object processing system Figure 1 It is used in conjunction with programmable motion devices for grasping and moving objects.

[0102] According to some aspects, the vacuum source can be switchable to a positive pressure source, which is pushed from the source to the orifice to push the object away from the contact surface and to push the contact surface distally. According to other aspects, in addition to being formed of a flexible material, the body can also be formed of a material and shape that provides the required spring constant. The required spring constant allows the body to be biased to its original shape such that when deformed (as discussed herein), the body will resist any deformation, thereby at least partially assisting in causing the body to return to its original shape.

[0103] Therefore, according to various aspects, the present invention provides a hinge that allows the clamping surface to fold. This causes the initial overall clamping to change from tension clamping to shear clamping. This folding is achieved via hinges in the clamping surface (movable hinges (via flexible material) or mechanical hinges (with supporting surfaces)). The hinge causes the gripper to fold advantageously such that the clamping surfaces of adjacent lobes eventually face each other, thereby collecting the clamped material between them. Depending on various aspects and / or folding radii, hinges that can produce relatively sharp creases or folds in the clamping surface are also provided. This allows the clamped material to contract, thereby further enhancing the overall gripping performance. Two or more flexible lobes may also be provided to help keep the clamping surface in a sheared state. According to some aspects, the clamping surface may be made of or coated with a high-friction material. The lobes may be able to engage and maintain a vacuum through a permeable and flexible fluidized bed, and may provide the ability to remain in an unfolded state to clamp flat, rigid surfaces. According to another aspect, the end effector may include a shield or a conformal elastic skirt on the periphery of the clamping surface to impede airflow in the unfolded or folded state, or in a folded position in between. According to another aspect, the end effector may provide an articulated central air passage that actuates upward when flow is impeded—thus pulling the blades closed.

[0104] 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, the body including a contact portion, the body providing an open interior through which a vacuum is provided to the contact portion, and the body including at least one feature adapted to promote the contact portion to become substantially non-planar during grasping; The body further includes a collapsible dome adapted to collapse into the open interior of the body of the end effector, and the end effector further includes a stop member for limiting movement of the collapsible dome into the open interior.

2. The end effector of claim 1, wherein the at least one feature includes a shield surrounding at least a portion of the body, wherein the inner surface of the shield contacts the object during gripping.

3. The end effector of claim 2, wherein the shield is generally truncated conical.

4. The end effector of claim 2, wherein the shield includes a fan-shaped edge.

5. The end effector of claim 4, wherein the fan-shaped edge provides at least a portion of the contact portion.

6. The end effector of claim 1, wherein the contact portion includes at least a portion of the collapsible dome.

7. The end effector of claim 1, wherein the collapsible dome includes a plurality of holes.

8. The end effector of claim 2, wherein the body further includes a plurality of supports adjacent to the base of the collapsible dome on the inner surface of the shroud.

9. The end effector of claim 1, wherein the body includes at least one support rib extending radially on its inner surface.

10. The end effector of claim 1, wherein the body includes at least one support rib extending longitudinally on its inner surface.

11. The end effector of claim 1, wherein the stop member includes an opening to allow air at a pressure different from atmospheric pressure to flow through it.

12. The end effector of claim 1, wherein the body comprises a compliant material.

13. The end effector of claim 1, wherein the contact portion includes an opening area in its central region that is larger than the opening area in its periphery.

14. A programmable motion device comprising an end effector as claimed in any one of claims 1 to 13.

15. An object processing system comprising the programmable motion device as described in claim 14.

16. An end effector for a programmable motion device, the end effector comprising a body, the body including a contact portion, the body providing an open interior through which a vacuum is provided to the contact portion, and the contact portion including at least one surface adapted to be pulled inward in response to the vacuum such that the at least one surface remains in contact with an object while the at least one surface faces at least partially inward toward the open interior; The contact portion includes a shield surrounding a collapsible dome, the collapsible dome including a plurality of holes defined therein, and at least one surface of the contact portion includes an inner surface of the shield and at least a portion of the collapsible dome extending below the shield.

17. The end effector of claim 16, wherein the shield is generally truncated conical.

18. The end effector of claim 16, wherein the shield includes a fan-shaped edge.

19. The end effector of claim 16, wherein the body further includes a plurality of supports adjacent to the base of the collapsible dome on the inner surface of the shroud.

20. The end effector of claim 16, wherein the body includes at least one support rib extending radially on its inner surface.

21. The end effector of claim 16, wherein the body includes at least one support rib extending longitudinally on its inner surface.

22. The end effector of claim 16, wherein the end effector further comprises a stop member for limiting movement of the collapsible dome into the open interior.

23. The end effector of claim 22, wherein the stop member includes an opening to allow air at a pressure different from atmospheric pressure to flow through it.

24. A programmable motion device comprising an end effector as claimed in any one of claims 16 to 23.

25. An object processing system comprising the programmable motion device as described in claim 24.

26. A method for grasping an object using an end effector, the end effector comprising a body providing an open interior coupled to a vacuum, the method comprising: Make the contact portion of the main body contact the object; A vacuum is applied to the object through the contact portion to primarily bond the object through the tension between the contact portion and the object; as well as When the object is grasped, either the contact portion or its periphery is permitted to become non-planar, such that the contact portion becomes engaged with the object primarily by shear force, which is greater than the tension between the contact portion and the object; The body further includes a collapsible dome adapted to collapse into the open interior of the body of the end effector, and the end effector further includes a stop member for limiting movement of the collapsible dome into the open interior.

27. The method of claim 26, wherein the contact portion comprises a shield surrounding the collapsible dome, wherein the inner surface of the shield contacts the object during gripping to generate the shear force.

28. The method of claim 27, wherein the shield is generally truncated conical.

29. The method of claim 27, wherein the shield includes a fan-shaped edge.

30. The method of claim 26, wherein the contact portion comprises at least a portion of the collapsible dome.

31. The method of claim 26, wherein the collapsible dome includes a plurality of holes.

32. The method of claim 26, wherein the stop member includes an opening to allow air at a pressure different from atmospheric pressure to flow through it.

33. The method of claim 26, wherein the collapsible dome includes an opening area in its central region that is larger than the opening area at its periphery.

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