Logistics robot system with grasping end effector

Abstract

Various embodiments relate to methods, apparatuses, and systems for operating a logistics robotic system. In various embodiments, an end effector configured to selectively engage with an object can include a frame assembly and a gripping mechanism configured to grasp the object using one or more grasping elements, the one or more grasping elements can be configured to be between an open configuration and an activated configuration; wherein the gripping mechanism is independently movable relative to the frame assembly in one or more directions; and wherein the end effector is configured to engage with the object such that the frame assembly contacts a first portion of the object and the gripping mechanism contacts a second portion of the object. Additionally, various embodiments relate to a system for transporting an object in a transport environment, the system including an end effector configured to selectively engage with the object and a controller communicatively coupled with the end effector.

Description

Technical Field

[0001] The exemplary embodiments of the present invention generally relate to a material handling system configured for loading and unloading objects, and more specifically to an end effector configured to have a gripping mechanism configured to engage with an object. Background Technology

[0002] This disclosure generally relates to a robotic system for handling objects, and more particularly to an end effector configured to apply equal tension to multiple objects, regardless of the variability of the objects. A handling environment loaded with multiple objects is transported to deliver the objects to loading and unloading areas. End effectors operatively connected to robotic systems have been used for loading and unloading objects. However, these alternative end effectors are plagued by technical challenges and limitations. Through effort, ingenuity, and innovation, many of these identified problems have been addressed by developed solutions, including those described in the embodiments of this disclosure, many examples of which are detailed herein. Summary of the Invention

[0003] The various embodiments described herein relate to methods, apparatus, and systems for operating a logistics robot system. In various embodiments, an end effector configured to selectively engage with an object may include: a frame assembly; and a gripping mechanism configured to grip the object using one or more gripping elements, the one or more gripping elements being configured between an open configuration and an activated configuration; wherein the gripping mechanism is movable independently relative to the frame assembly in one or more directions; and wherein the end effector is configured to engage with the object such that the frame assembly contacts a first portion of the object, and the gripping mechanism contacts a second portion of the object.

[0004] In various embodiments, the frame assembly may include a first frame element configured to move with a positioning mechanism operatively coupled to an end effector; and a second frame element configured to contact a first portion of an object, operatively coupled to the first frame element, and configured to move relative to the first frame element at least partially based on contact between the second frame element and the first portion of the object. In some embodiments, the first frame element may define a configuration that is at least substantially rigid relative to the positioning mechanism, and wherein the second frame element is configured to move relative to the first frame element along a longitudinal axis based on at least one force acting on the second frame element in a direction at least partially longitudinal.

[0005] In various embodiments, one or more gripping elements may include a first gripping arm and a second gripping arm, the first and second gripping arms being configured to define a lateral clearance between them. In some embodiments, the first and second gripping arms are laterally movable relative to each other such that the lateral clearance is defined by an adjustable clearance width configured to vary as the gripping mechanism is selectively configured between an open configuration and an activated configuration. In some embodiments, the activated configuration of the gripping mechanism is defined by moving one or more of the first and second gripping arms to minimize the adjustable clearance width of the lateral clearance between them, so as to secure a second portion of an object between the first and second gripping arms. In various embodiments, the gripping mechanism is movable independently relative to the frame assembly along a longitudinal axis. In some embodiments, one or more gripping elements may be configured to be between an open configuration and an activated configuration based on one or more movements along the lateral axis. In various embodiments, the longitudinal axis may be at least substantially perpendicular to the lateral axis.

[0006] In various embodiments, the end effector may be configured to selectively reconfigure at least a portion of an object engaged with the end effector between a nominal configuration and a tightening configuration. In some embodiments, the end effector may be configured to selectively reconfigure at least a portion of an object engaged with the end effector between a nominal configuration and a tightening configuration based on independent movement of a gripping mechanism relative to a frame assembly, such independent movement increasing the longitudinal distance defined between a first portion of the object engaged with the frame assembly and a second portion of the object engaged with the gripping mechanism. In some embodiments, the end effector may be configured to selectively reconfigure at least a portion of the object into a tightening configuration when one or more gripping elements are provided in an actuation configuration. In some embodiments, the end effector may be configured to also selectively reconfigure at least a portion of the object into a tightening configuration when the frame assembly engages with the first portion of the object.

[0007] In various embodiments, the end effector may be configured to selectively move the frame assembly and the clamping mechanism along a longitudinal axis at least substantially simultaneously to facilitate one or more of the following: engagement with at least a portion of an object, and repositioning the object from a first longitudinal position to a second longitudinal position; and wherein the end effector is also configured to independently and selectively move the clamping mechanism relative to the frame assembly along the longitudinal axis to facilitate reconfiguration of the object from a nominal configuration to a tightened configuration. In various embodiments, the end effector may also include one or more sensors configured to measure data at least partially corresponding to the position of the frame assembly relative to one or more of the object and the clamping mechanism. In some embodiments, at least a portion of the one or more sensors may be configured to detect engagement of the frame assembly with the object. In some embodiments, at least a portion of the one or more sensors may be configured to determine the relative position of the clamping mechanism with respect to at least a portion of the frame assembly, the relative position being defined along the longitudinal axis. Additionally, in some embodiments, at least a portion of one or more sensors may be configured to determine the relative position of the clamping mechanism with respect to at least a portion of the frame assembly based on one or more detected forces corresponding to the arrangement of a first frame element of the frame assembly relative to a second frame element of the frame assembly, wherein the frame assembly is configured to contact a second portion of an object at the second frame element.

[0008] Additionally, in some embodiments, at least a portion of one or more sensors may be configured to sense position data defined by one or more of a first frame element and a second frame element of the frame assembly, wherein the frame assembly is configured to contact a second portion of an object at the second frame element, wherein the frame assembly includes one or more spring elements operatively coupled to both the first and second frame elements such that repositioning of the first frame element relative to the second frame element is at least partially affected by a spring force defined by the one or more spring elements, and wherein the end effector is configured such that the spring force varies based on the relative position of the second frame element with respect to one or more of the first frame element and the clamping mechanism along a longitudinal axis.

[0009] Various embodiments relate to a system for handling objects in a handling environment, the system including an end effector configured to selectively engage with an object, the end effector including: a frame assembly; and a gripping mechanism configured to grip the object using one or more gripping elements configured between an open configuration and an engaged configuration; wherein the gripping mechanism is movable independently relative to the frame assembly in one or more directions; and wherein the end effector is configured to engage with the object such that the frame assembly contacts a first portion of the object and the gripping mechanism contacts a second portion of the object; and a controller communicatively connected to the end effector, the controller being configured to generate one or more control signals to control a first arrangement of the one or more gripping elements between the open and engaged configurations and a second arrangement of the gripping mechanism relative to the frame assembly defined along a longitudinal axis.

[0010] The foregoing illustrative description of the invention, as well as other exemplary objects and / or advantages of this disclosure, and the ways in which these objects and / or advantages are achieved, are further explained in the following detailed description and accompanying drawings. Attached Figure Description

[0011] The description of the exemplary embodiments can be read in conjunction with the accompanying drawings. It will be understood that, for the sake of simplicity and clarity of illustration, elements shown in the figures are not necessarily drawn to scale unless otherwise described. For example, unless otherwise described, the dimensions of some elements may be exaggerated relative to others. Sometimes, similar reference numerals are used in several figures. Unless otherwise specified, these similar reference numerals always denote similar parts in those figures. Embodiments incorporating the teachings of this disclosure are shown and described with respect to the drawings presented herein, in which: Figure 1 An exemplary side perspective view of a robot system according to various embodiments of the present disclosure is shown; Figure 2 An exemplary side perspective view of an end effector according to various embodiments of the present disclosure is shown; Figure 3A An exemplary front perspective view of a clamping mechanism in an inactive configuration according to various embodiments of the present disclosure is shown; Figure 3B An exemplary front perspective view of a clamping mechanism in an activation configuration according to various embodiments of the present disclosure is shown; Figure 4A An exemplary front perspective view of a frame component in a first position according to various embodiments of the present disclosure is shown; Figure 4B An exemplary front perspective view of a frame component in a second position according to various embodiments of the present disclosure is shown; Figures 5A to 5E Various exemplary front perspective views of end effectors performing engagement operations according to various embodiments of the present disclosure are shown; Figure 6 An exemplary front perspective view of multiple locations of one or more tracks according to various embodiments of this disclosure is shown; Figure 7 Exemplary controller components are shown that communicate electronically with various other components of an exemplary robot system according to various embodiments of the present disclosure. Detailed Implementation

[0012] Some embodiments of this disclosure will be described more fully below with reference to the accompanying drawings, which illustrate some, but not all, embodiments of this disclosure. In fact, these disclosures may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided to enable this disclosure to meet applicable legal requirements. Throughout this document, similar reference numerals refer to similar elements.

[0013] The components shown in the accompanying drawings represent components that may or may not be present in the various embodiments of this disclosure described herein, such that embodiments may include fewer or more components than those shown in the figures without departing from the scope of this disclosure. Some components may be omitted from one or more figures, or shown in dashed lines to make the components below visible.

[0014] The aspects of this disclosure are described below with reference to block diagrams and flowcharts. Therefore, it should be understood that each block in the block diagrams and flowcharts can be implemented as a computer program product, a complete hardware aspect, a combination of hardware and computer program products, and / or an apparatus, system, computing device, computing entity, etc., implementing instructions, operations, steps, and interchangeable similar terms (e.g., executable instructions, instructions for execution, program code, etc.) for execution on a computer-readable storage medium. For example, code retrieval, loading, and execution can be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some embodiments, retrieval, loading, and / or execution can be performed in parallel such that multiple instructions are retrieved, loaded, and / or executed together. Thus, such aspects can produce machines with specific configurations for performing the steps or operations specified in the block diagrams and flowcharts. Therefore, the block diagrams and flowcharts support various combinations of aspects for performing specified instructions, operations, or steps.

[0015] The phrases “in exemplary embodiments,” “some embodiments,” “various embodiments,” etc., generally mean that the specific feature, structure, or characteristic following these phrases may be included in at least one embodiment of this disclosure, and may be included in more than one embodiment of this disclosure (importantly, such phrases do not necessarily refer to the same embodiment).

[0016] The terms “example” or “exemplary” are used herein to mean “served as an example, instance, or illustration.” Any specific implementation described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other implementations.

[0017] If the specification states that a component or feature “may,” “can,” “should,” “will,” “preferably,” “possibly,” “usually,” “optionally,” “for example,” “often,” or “may” (or other such language) be included or have that characteristic, then the specific component or feature is not necessarily included or has that characteristic. Such a component or feature may be optionally included in some embodiments or may be excluded.

[0018] The terms “electrically coupled” or “electronic communication” in this disclosure may refer to a circuit of two or more electronic components (e.g., but not limited to exemplary processing circuitry, communication components, input / output module memory) and / or connected via wired means (e.g., but not limited to conductive lines, system buses, wired Ethernet connections or traces) and / or wireless means (e.g., but not limited to wireless networks, electromagnetic fields, Wi-Fi, Bluetooth, Zigbee) such that data and / or information (e.g., electronic indications, signals) can be transmitted to and / or received from the electrically coupled electrical components and / or circuitry.

[0019] Automated robotic systems configured with end effectors can be used in material handling environments to load and / or unload objects from and / or into handling environments (e.g., conveyors, pallets, etc.). Current end effectors present several drawbacks in terms of consistency and reliability, leading to inefficient and inaccurate engagement of the end effector with at least a portion of an object. For example, end effectors may be designed to load and / or unload structured objects (e.g., multiple objects arranged in a specific manner within a box and / or bag, objects without anomalies, etc.). However, when loading and / or unloading objects from a handling environment, end effectors can cause structured objects to become unstructured (e.g., one or more objects become disarranged in a specific manner within a box and / or bag, causing anomalies, etc.). Furthermore, the ability to unload objects can decrease depending on the size, dimensions, and arrangement of the objects to be handled. In some cases, objects may move during transport, causing one or more structured objects to become unstructured. This makes end effectors unreliable when loading and / or unloading structured and / or unstructured objects. Therefore, it is advantageous to have end effectors that can apply equal force to structured objects and maintain the structure of the objects and / or transform unstructured objects into structured objects.

[0020] According to various embodiments of this disclosure, example methods, apparatuses, computer program products, and systems are provided. In some examples, these exemplary methods, apparatuses, computer program products, and systems provide end effectors for moving objects in a handling environment. The end effector may include a clamping mechanism and a frame assembly configured to move objects in various structured and / or unstructured arrangements.

[0021] For example, this disclosure provides an end effector including at least one gripping mechanism and at least one frame assembly. The gripping mechanism may further include at least one gripping mechanism base, one or more gripping arms, and at least one longitudinal actuating arm. The one or more gripping arms may be operatively coupled to the gripping mechanism base via one or more actuator elements. For example, a first actuator element may be operatively coupled to a first gripping arm, and a second actuator element may be operatively coupled to a second gripping arm, wherein the first and second actuator elements may be configured to linearly translate the first and second gripping arms from a first position to a second position. The longitudinal actuating arm may be operatively coupled to the gripping mechanism and / or the frame assembly, wherein the longitudinal actuating arm may be configured to translate the gripping mechanism and / or the frame assembly from the first position to the second position.

[0022] Thus, this disclosure provides an end effector having a frame assembly and a gripping mechanism, the end effector including one or more gripping arms configured to be linearly translatable. A first actuator element and a second actuator element may be configured to linearly translate the first and second gripping arms relative to a base of the gripping mechanism, wherein the gripping arms may be configured to engage at least partially with one or more objects. The frame assembly may be configured to engage at least partially with one or more objects in a material handling environment. In this way, the end effector may be configured to assist in loading and / or unloading one or more objects from a material handling environment.

[0023] In this way, the end effector described herein provides a practical improvement over conventional end effectors, thereby increasing adjustability, reliability, adaptability and control for loading and / or unloading objects while reducing inefficiency and inaccuracy.

[0024] Figure 1An exemplary front perspective view of a robot system 1 according to various embodiments of the present disclosure is shown. The robot system 1 may include a positioning mechanism 20 (e.g., a robot arm, robot manipulator, etc.) and an end effector 10 operatively coupled to the positioning mechanism. The end effector 10 may also include a gripping mechanism 100 and a frame assembly 200 coupled to the gripping mechanism. The robot system 1 may be configured to move one or more objects 3 disposed within a handling environment 2 from one location (e.g., a conveyor, pallet, container, etc.) to another location in a controlled manner. In some embodiments, by way of example, the positioning mechanism (e.g., a robot arm, robot manipulator, etc.) may be configured to load and / or unload one or more objects 3 within the handling environment 2 by engaging one or more objects with the end effector 10, the end effector having a gripping mechanism 100 and one or more gripping arms to facilitate at least partial engagement of the end effector and the corresponding object 3. As described herein, one or more gripping arms of the end effector 100 defined by the robot system 1 may improve the reliability of the end effector and / or the robot system during the performance of one or more operations.

[0025] An exemplary positioning mechanism 20 may have a first end and a second end opposite to the first end. The positioning mechanism 20 may be mounted to a vertical mount at the first end, and the second end may include an end actuator 10.

[0026] The positioning mechanism 20 may include a robotic arm. The robotic arm may include any robotic arm design, such as a Cartesian robotic arm, a cylindrical robotic arm, a polar / spherical robotic arm, a pneumatic robotic arm, etc. As an example, the positioning mechanism 20 may include a six-degree-of-freedom robotic arm. Additionally or alternatively, the positioning mechanism 20 may include a Cartesian robotic arm and / or a pneumatic robotic arm. In some embodiments, the positioning mechanism 20 can be removably mounted to a vertical mount and can be reconfigured based on one or more load characteristics associated with loading and / or unloading activities (e.g., object characteristics, size, arrangement, fragility, etc.).

[0027] End effector 10 may include a frame assembly 200 and a gripping mechanism 100 operable to grasp, pull, drag, and / or otherwise move objects. As an example, end effector 10 may include one or more gripping mechanisms. Additionally or alternatively, end effector 10 may include a mechanical gripper, a pneumatic gripper, and / or any other robotic gripping mechanism. In some embodiments, end effector 10 can be removably coupled to the arm of positioning mechanism 20 and can be reconfigured based on one or more load characteristics associated with loading and / or unloading activities.

[0028] Robot system 1 may include one or more vision systems (not shown) configured to capture sensor data indicating the environment of the robot system. As described herein, the vision system may include a positioning mechanism vision system. The positioning mechanism vision system may include one or more sensors (e.g., depth sensors, color sensors (e.g., RGB) and other spectral sensors) for recording sensor data indicating a corresponding area approaching the robot system. By way of example, the sensor data may include environmental data representing the current (or past) state of each handling environment. The handling environment may be used by robot system 1 to identify objects within the handling environment and / or to automatically actuate positioning mechanism 20 and / or end effector 100, as described herein, for handling objects within each corresponding handling environment of the engagement assembly.

[0029] Robotic system 1 can use sensor data indicative of a handling environment, such as a conveyor, to identify objects to be handled (e.g., queued objects). For example, as described herein, robotic system 1 may include a positioning mechanism vision system. The positioning mechanism vision system may include one or more sensors operable to generate sensor data indicative of the surrounding environment of robotic system 1. The one or more sensors may include one or more cameras (e.g., RGB cameras), one or more depth sensors (e.g., LiDAR sensors, etc.), and / or any other sensors capable of recording environmental properties. The environment may include an area facing the front portion of the robotic system. For example, robotic system 1 may face a handling environment such as a pallet. In various embodiments, the sensor data may include environmental data indicative of one or more environmental characteristics defined by a handling environment, such as a conveyor. Additionally, in various embodiments, the sensor data may include object data indicative of one or more object characteristics defined by one or more objects disposed within the handling environment, such as object location, object shape, object size, and / or object distribution within the handling environment.

[0030] Robot system 1 may include a controller communicatively coupled to a positioning mechanism vision system, a positioning mechanism 20, and / or a gripping mechanism 100 defined by an end effector 10. The controller may be configured to automatically control the positioning mechanism 20 and / or gripping mechanism 100 of the exemplary end effector 10 based on object data and / or environmental data captured by the positioning mechanism vision system. The controller may, for example, include one or more processors and / or memory devices. The memory device may include computer-readable instructions for interpreting the object data and / or environmental data and initiating operation of one or more of a plurality of drive elements defined by the end effector 10 to induce a synthetic motion of one or more gripping arms coupled to the drive elements based on the object data. The computer-readable instructions may, for example, implement one or more motion planning and / or trajectory generation functions for operating the exemplary end effector 10.

[0031] refer to Figure 1 In various embodiments, object 3 may be positioned within the handling environment 2, such as on a conveyor, pallet, or at least substantially close to the end effector 10 of the robotic system 1. For example, exemplary object 3 may embody multiple individual items, such as bags, shells, boxes, suitcases, etc., within an external holding component. As an illustrative example, exemplary end effector 10 may be configured to selectively engage object 3, which includes multiple structured items stacked inside a bag, such as multiple items in a structured stack defined by an arrangement of items in one or more columns, rows, sets, etc. In this exemplary case, exemplary end effector 10 may be configured to engage object 3 such that when end effector 10 moves an object from a first position (e.g., a conveyor) to a second position within the handling environment 2, the multiple stacked items positioned outside the bag remain in the stacked configuration.

[0032] As described herein, object 3 may define a first portion 3A corresponding to the body of an exemplary bag (e.g., a portion of the bag inside surrounding the exterior of an article) and a second portion 3B embodying the "flower" of the bag, defined by excess bag material provided along the top portion of the object and / or the bag. In various embodiments, as described herein, exemplary end effector 10 may be configured such that, when positioned at least substantially adjacent to at least a portion of object 3, the frame assembly 200 of end effector 10 may engage with the first portion 3A of object 3, and the clamping mechanism 100 of the end effector may engage with the second portion 3B of object 3. For example, in various embodiments, the first portion 3A of object 3 may be defined at least partially by the uppermost surface of one or more articles disposed inside the bag defined by object 3. Additionally, in this exemplary case, the second portion 3B of object 3 may be defined at least partially by excess bag material disposed above the first portion 3A of object 3 (e.g., as defined in the longitudinal direction).

[0033] Figure 2 An exemplary front perspective view of an end effector 10 according to various embodiments of the present disclosure is shown. The end effector 10 may include a clamping mechanism and a frame assembly. The end effector may be configured to be translated in a controlled manner from a first position to a second position by at least one longitudinally actuated arm 130. In some embodiments, by way of example, the end effector may be configured to engage with one or more objects, wherein the frame assembly 200 may engage with a first portion of the object and the clamping mechanism 100 may engage with a second portion of the object.

[0034] Also refer to Figure 2 In various embodiments, the end effector 10 may include a clamping mechanism 100 and a frame assembly 200. In one or more embodiments, the clamping mechanism may further include a gripping element base 110. Figures 3A to 3B (as depicted), one or more gripping elements 120, one or more actuator elements 121B ( Figures 3A to 3B(Depicted) and longitudinal actuator arm 130. In various embodiments, the end effector 10 may also include a frame assembly 200, wherein the frame assembly is coupled to the gripping mechanism. In one or more example embodiments, the frame assembly may include a first frame element 210, a first engagement surface 211, and / or a second frame element 220, wherein the first engagement portion 211 may be configured to engage with a first portion of an object. In one or more embodiments, the length and width of the frame assembly 200 may be configured to be smaller than the length and width of one or more objects in the handling environment. In various embodiments, the frame assembly may include one or more rigid materials, wherein the one or more rigid materials may be configured to withstand forces applied integrally by one or more objects, the gripping mechanism 100, and / or the robot system 1. In various embodiments, the first frame element 210 may be configured to be positioned below the lowermost edge of the second frame element 220. In some embodiments, the first engagement surface 211 may be configured to define the lowermost edge of the first frame element 210.

[0035] Figures 3A to 3B Various front perspective views of an exemplary clamping mechanism 100 having one or more gripping elements 120 according to various embodiments of the present disclosure are shown. In various embodiments, such as Figures 3A to 3B The depicted gripping mechanism 100 may include a first gripping arm 121 and / or a second gripping arm 122, wherein the first gripping arm 121 and the second gripping arm 122 are operatively connected to a gripping element base 110. For example, in various embodiments, a first drive element 121B may be configured to be operatively connected to the first gripping arm 121, and a second drive element 122B may be configured to be operatively connected to the second gripping arm 122, wherein the first drive element 121B and the second drive element 122B can connect a gripping element to the base 110. In one or more example embodiments, the first drive element 121B may be linearly disposed opposite to the second drive element 122B, wherein the first drive element 121B may be disposed on a first side of the gripping element base 110, and the second drive element 122B may be linearly disposed on an opposite second side of the gripping element base 110. In various embodiments, the uppermost surface of the first drive element 121B and the uppermost surface of the second drive element 122B may be configured to lie on the same plane as the uppermost edge of the gripping element base 110. In various embodiments, the first drive element 121B and the second drive element 122B may be configured to translate the respective gripping arms 121 and 122 from a first position to a second position. In one or more example embodiments, the first drive element 121B and the second drive element 122B may be at least partially configured to translate within the gripping element base 110 when translating from the first position to the second position.

[0036] Also refer to Figures 3A to 3B In one or more example embodiments, the first gripping arm 121 and the second gripping arm 122 may be configured to be positioned below the lowest edge of the gripping element base 110. In various embodiments, the first gripping arm 121 may be linearly positioned opposite the second gripping arm 122, wherein the first gripping arm 121 engages with a first drive element 121B on a first side of the base 110, and the second gripping arm 122 engages with a second drive element 122B on a second linearly opposite side of the base 110. In various embodiments, the first drive element 121 and the second drive element 122 may be configured to translate the respective gripping arm from a first position to a second position. In one or more embodiments, such as Figure 3A As depicted, a first position of one or more gripping elements 120 may be configured to have a lateral clearance 123 between a first gripping arm 121 and a second gripping arm. In various embodiments, the first position of one or more gripping arms may be an inactive position, wherein the lateral clearance 123 may be provided between the first gripping arm 121 and the second gripping arm 122. In one or more embodiments, the lateral clearance between the first gripping arm 121 and the second gripping arm 122 may be configured to receive a second portion of an object, wherein the second portion may or may not partially engage one or more gripping elements 120. In various embodiments, one or more corresponding actuating elements may be configured to linearly translate one or more gripping elements 120 from the first position to the second position, such as... Figure 3B As depicted. In various embodiments, the second position may be at least partially an actuated position, wherein the lateral clearance 123 may be absent. In various embodiments, a second portion of one or more objects may be secured in the second position between the first gripping arm 121 and the second gripping arm 122, such that the gripping mechanism can load and / or unload one or more objects without slippage.

[0037] In various implementation schemes, such as Figures 3A to 3BThe depicted clamping mechanism may include at least one longitudinal actuating arm 130, wherein the longitudinal actuating arm 130 may be configured to translate the clamping mechanism 100 at least partially relative to the positioning mechanism in a second direction. In various embodiments, the longitudinal actuating arm 130 may be configured to translate the clamping mechanism 100 and / or the frame assembly 200, wherein the longitudinal actuating arm 130 may translate the clamping mechanism 100 independently of the frame assembly 200. In one or more embodiments, the longitudinal actuating arm 130 may be configured to translate the clamping mechanism from a first position to a second position at least partially relative to the positioning mechanism. In various embodiments, the first position may be configured for the first gripping arm 121 to engage at least partially with the second gripping arm 122, wherein a second portion of one or more objects may be securely engaged with the first gripping arm 121 and / or the second gripping arm 122.

[0038] In one or more exemplary embodiments, the longitudinal actuating arm 130 may be configured to translate the gripping mechanism 100 at least partially relative to the positioning mechanism in a first direction. In various embodiments, the longitudinal actuating arm 130 may be configured to translate the gripping mechanism 100 from a first position to a second position relative to the positioning mechanism. In various embodiments, the longitudinal actuating arm 130 may be configured to translate the gripping mechanism from an initial position (e.g., a first position) to a second position, wherein the second position may be at least partially defined by at least a portion of a second part of an object disposed within a lateral clearance 123 between the first gripping arm 121 and the second gripping arm 122. In various embodiments, the first drive element 121B and the second drive element 122B may be configured to translate a corresponding gripping arm from an inactive position to an active position, wherein the corresponding gripping arm may be configured to secure the second part of the object. In one or more embodiments, the longitudinal actuating arm 130 may be configured to translate at least partially from the second position to the first position, wherein the translation applies pressure to the object. In one or more embodiments, the longitudinal actuator 130 may be configured to stop translating when a pressure threshold has been reached.

[0039] Figures 4A to 4BVarious front perspective views of an exemplary frame assembly 200 according to various embodiments of the present disclosure are shown. In one or more example embodiments, the frame assembly may include a first frame element 210, a first engagement surface 211 and / or a second frame element 220, and a frame assembly base 240, wherein the first engagement portion 211 may be configured to engage with a first portion of an object. In various embodiments, the first frame element 210 of the frame assembly 200 may be configured to contact an exemplary object within a handling environment, at least partially based on the arrangement of an end effector (e.g., a positioning mechanism coupled thereto) relative to the object. In various embodiments, the first frame element 210 is configured to move relative to the second frame element 220, at least partially based on the physical engagement of the first frame element 210 with the object. For example, in various embodiments, the second frame element 220 may be configured to move together with a positioning mechanism operatively coupled to the end effector as defined by an exemplary robotic system. The second frame element 220 may define a configuration that is at least substantially rigid relative to the positioning mechanism of the robot system, such that the first frame element 210 is configured to move relative to the second frame element 220 along a longitudinal axis based on at least one force acting on the first frame element 210 in at least a partial longitudinal direction.

[0040] In various embodiments, the first frame element 210 may be configured to connect to the second frame element 220 via one or more guide rods 230A, 230B, 230C, and 230D (collectively, “230”). In various embodiments, the plurality of guide rods 230 may each be arranged in at least substantially longitudinal arrangement such that one or more guide rods can at least partially guide the movement of the first frame element 210 and define at least a portion of the range of motion of the first frame element 210 relative to the second frame element 220. In various embodiments, the guide rods 230 may further include one or more lower track stops 231A, 231B, 231C, and 231D (collectively, “231”) and / or one or more upper track stops 232A, 232B, 232C, and 232D (collectively, “232”). In various embodiments, each of one or more lower track stops 232 and one or more upper track stops 231 may be rigidly positioned along a corresponding guide rod, such that each of the one or more lower track stops 232 and one or more upper track stops 231 is configured to at least partially limit the range of motion of the first frame element 210 relative to the second frame element 220 in one or more longitudinal directions. Alternatively or additionally, in one or more embodiments, at least a portion of the one or more lower track stops 232 and one or more upper track stops 231 may be configured to translate along the corresponding guide rod 230. In various embodiments, the one or more lower track stops 231 may be configured to act as a physical barrier to prevent the first frame element 210 from translating closer to the first frame element 210. In one or more embodiments, the one or more upper track stops 232 may be configured to act as a physical barrier to prevent the second frame element 220 from translating away from the corresponding guide rod 230.

[0041] In various implementation schemes, such as Figure 4AAs shown, the frame assembly 200 of the exemplary end effector 10 may include one or more spring elements 233A, 233B, 233C, 233D that are at least partially fixed relative to one or more dynamic components of the frame assembly 200, such as the first frame element 210, such that the relative movement of the dynamic frame component (e.g., the first frame element 210) is at least partially affected (e.g., resisted and / or aided) by one or more spring forces generated by the one or more spring elements 233A, 233B, 233C, 233D. For example, as shown, each of the spring elements 233A, 233B, 233C, 233D may define a corresponding spring length arranged along the length of the corresponding guide rods 230A, 230B, 230C, 230D of the frame assembly 200. In this exemplary configuration, one or more spring elements 233A, 233B, 233C, 233D may be coupled to both the first frame element 210 and the second frame element 220, such that the movement of the first frame element 210 relative to the rigid second frame element 220 (e.g., along the guide rods 230A, 230B, 230C, 230D) is resisted and / or assisted by the forces generated by the one or more spring elements 233A, 233B, 233C, 233D.

[0042] Also refer to Figures 4A to 4B In various embodiments, the first frame element 210 may be configured to translate from a first position to a second position, wherein the second position is defined by the first frame element 210 being closer to the second frame element 220 than in the first position. For example, the dynamically configured first frame element 210 may be configured to move relative to the second frame element 220 from the first position to the second position such that as the first frame element 210 moves from the first position to the second position, the vertical spacing distance defined between the first frame element 210 and the second frame element 220 decreases (e.g., is at least substantially minimized). As a non-limiting example provided for illustrative purposes, Figure 4A The first frame element 210 of the exemplary frame assembly 200 shown is depicted in a first position, while Figure 4B The first frame element 210 of the exemplary frame assembly 200 shown is depicted in a second position defined by a reduced vertical spacing between the first frame element 210 and the second frame element 220. For example, as Figure 4A As depicted, the first frame element 210 of the exemplary frame assembly 200 may be positioned in a first location before the mating surface 211 defined by the first frame element 210 physically contacts the object of interest. Additionally, as Figure 4BAs shown, when the frame assembly 200 further moves in a downward vertical direction after contacting an object at the engagement surface 211, the first frame element 210 of the exemplary frame assembly 200 may be positioned in a second position, which may be defined by the minimum vertical spacing between the first frame element 210 and the second frame element 220. This causes the object to exert a corresponding thrust on the engagement surface 211, which causes the first frame element 210 to move to the second position, as described herein, before the engagement surface 211 defined by the first frame element 210 physically contacts the object of interest, and is applied to the contacting engagement surface 211. The first engagement surface 211 may be configured to engage just with a first portion of the object. In various embodiments, such as Figure 4B The depicted location may be a second position; for example, in various embodiments, exemplary frame assembly 200 may be configured such that the first frame element 210 is positioned in the second position when a threshold amount of pressure is applied to the object. In one or more embodiments, frame assembly 200 may be configured to translate in the opposite direction of the clamping mechanism when pressure is applied to the object (e.g., the second frame element 220 translates vertically closer to the object, while the clamping mechanism 100 moves vertically further away from the object). In various embodiments, frame assembly base 240 may be configured to further define controller 700 ( Figure 7 (As depicted in the image), where the controller can be configured to control the end effector and / or communicate with the positioning mechanism's vision system. Typically, as shown in the reference... Figures 5A to 5E The exemplary end effector 10 is operable to facilitate a multi-step material handling operation defined by the relative movement of dynamic components of the end effector 10 (e.g., clamping mechanism 120, first frame element 210, second frame element 220), resulting in the end effector 10 selectively engaging one or more objects in a material handling environment. For example, operations performed by a controller can facilitate the secure engagement of the end effector with one or more objects for loading and / or unloading one or more objects. Specifically, Figure 5A A perspective view of an exemplary end effector 10 in its initial position is shown, wherein a clamping mechanism 100 (e.g., longitudinally) is positioned above the frame assembly 200 (e.g., above the second frame element 220 and the first frame element 210, including an engagement surface 211 defined by the first frame element 210). As further shown, Figure 5A The initial position of the end effector 10 shown includes the clamping mechanism 100 being configured in an open configuration. As shown, the open configuration of the clamping mechanism 100 can be defined by a first gripping arm and a second gripping arm of one or more gripping elements 120 being arranged laterally spaced apart to define a lateral clearance 123 between the first gripping arm and the second gripping arm. (See also the section on...) Figures 5B to 5EIn more detail, the first gripping arm 121 and the second gripping arm 122 of the gripping mechanism 100 are laterally movable relative to each other, such that the lateral gap 123 defined between the first gripping arm and the second gripping arm defines an adjustable gap width that can be selectively changed (e.g., by one or more control signals received from the controller by the end effector 10) when the gripping mechanism 100 is selectively configured between an open configuration and an open configuration.

[0043] Figure 5B It shows Figure 5A Another perspective view of the exemplary end effector shown, wherein the end effector 10 is arranged in a second exemplary arrangement corresponding to a second operation of the exemplary material handling operation described herein. Figure 5B In the second exemplary arrangement shown, the end effector 100, including the frame assembly 200 and the gripping mechanism 100, has been moved in a downward longitudinal direction, such as via repositioning through a positioning mechanism (e.g., a robotic arm) coupled to the end effector 10, until at least a portion of the engagement surface 211 of the frame assembly 200 physically contacts the exemplary object. For example, the end effector 10 may be configured such that when the frame assembly 200 (e.g., the first frame element 210) physically contacts the object, the first frame element 210 may move relative to the second frame element 220 in an upward longitudinal direction (e.g., along one or more guide rods) due to one or more forces generated by contact with the object. In various embodiments, the exemplary robot system defined by the controller portion may be configured to detect engagement of the end effector 10 with an object, at least in part, based on one or more signals received by the controller from one or more sensors (not shown) of the end effector 10, which is configured to capture data corresponding to the relative position of the first frame element 210 with respect to the second frame element 220.

[0044] In such an exemplary arrangement, where the first frame element 210 engages an object, such as a first portion of an object defined by the uppermost part of a plurality of stacked items within a bag defined by the object, the gripping mechanism 100 can be operated independently to continue moving the gripping mechanism 100 in a downward longitudinal direction, such as via an extension of the longitudinal actuating arm 130 toward the object engaged by the first frame element 210. As described herein, the gripping mechanism 100 can be moved independently relative to the frame assembly 200 along a longitudinal axis. The end effector 10 can be controlled to position the gripping mechanism 100 relative to the first frame element 210 of the frame assembly 200 such that one or more gripping elements 120 of the gripping mechanism 100 (e.g., a first gripping arm 121, a second gripping arm 122, and a lateral clearance defined between the first and second gripping arms) are longitudinally positioned below at least a portion of the frame assembly 200. For example, as shown, the clamping mechanism 100 can be moved in a longitudinally downward position to a second exemplary arrangement such that one or more clamping elements 120 are longitudinally positioned between a first frame element 210 and a second frame element 220 of the frame assembly 200 (e.g., longitudinally below the second frame element 220 and longitudinally above the first frame element 210, including the engagement surface 211 defined by the first frame element 210). For example, the clamping mechanism 100 can be moved in a longitudinal position relative to the first frame element 210 of the frame assembly 200 such that a second portion of the object (e.g., a "flower" defined by a bag of the object) is positioned at least substantially adjacent to one or more clamping elements 120.

[0045] In various embodiments, one or more gripping elements 120 may be configured between an open configuration and an open configuration based on one or more movements of one or more of the first gripping arm 121 and the second gripping arm 122 along a lateral axis at least substantially perpendicular to the longitudinal axis, wherein the clamping mechanism 100 is movable relative to the frame assembly 200 along the longitudinal axis. For example, as Figure 5B and Figure 5C As shown in the second and third exemplary embodiments respectively, the clamping mechanism 100 is arranged relative to the frame assembly 200 that engages with a first portion of the object, such that a second portion of the object is disposed within a lateral gap defined between the first gripping arm 121 and the second gripping arm 122, and the clamping mechanism is in an open configuration (e.g., as shown in the second and third exemplary embodiments respectively). Figure 5B The second exemplary arrangement of the end effector 10 shown is selectively reconfigured into a startup configuration (e.g., as indicated by...). Figure 5C When the third exemplary arrangement of the end effector 10 is shown, the second portion of the object can be secured by one or more gripping elements 120 (e.g., between the first gripping arm 121 and the second gripping arm 122). As an illustrative example, Figure 5C It shows Figures 5A to 5BAnother perspective view of the exemplary end effector 10 shown, wherein the end effector 10 is arranged in a third exemplary arrangement corresponding to a third operation of the exemplary material handling operation described herein. In various embodiments, the exemplary end effector 10 may be configured such that the actuation configuration of the gripping mechanism 100 is defined by the lateral movement of one or both of the first gripping arm 121 and the second gripping arm 122 toward the other to minimize an adjustable gap width of the lateral gap between the first gripping arm and the second gripping arm in order to secure a second portion of an object between the first gripping arm 121 and the second gripping arm 122. For example... Figure 5C The exemplary third arrangement of the end effector 10 shown depicts a clamping mechanism 100 in an actuation configuration.

[0046] Figure 5D It shows Figures 5A to 5C Another front perspective view of the exemplary end effector shown, wherein the end effector 10 is arranged in a fourth exemplary arrangement, which corresponds to a fourth operation of the exemplary material handling operation described herein. Figure 5D In the fourth exemplary arrangement shown, the gripping mechanism 100 in the activated arrangement (e.g., a second portion of an object is secured within a first gripping arm 121 and a second gripping arm 122 of one or more gripping elements 120) has already retracted in the upward longitudinal direction, such as via a longitudinal actuating arm 130, in a direction away from the first portion of the object, and the first frame element 210 of the frame assembly 200 engages with the first portion. For example, the end effector 10 may be configured such that the gripping mechanism 100, moving in the upward longitudinal direction, can pull the second portion of the object secured by one or more gripping elements 120 to exhibit corresponding movement within the gripping mechanism 100. In various embodiments, this corresponding movement of the second portion of the object (e.g., a flower in a bag defined by the object) can result in one or more pulling forces to be applied to the first portion of the object in the upward longitudinal direction. One or more pulling forces applied to the first portion of the object can be transferred to the first frame element 210, at least in part based on the physical contact between the first portion of the object and at least a portion of the engagement surface 211 and the first frame element 210. One or more forces acting on the first frame element 210 due to the clamping mechanism pulling the object (e.g., the second part of the object) in the upward longitudinal direction can cause the first frame element 210 to move relative to the second frame element 220 in the corresponding upward longitudinal direction. For example, the end effector 10 may be configured such that, when subjected to such an exemplary pulling force, the first frame element 210 may move relative to the second frame element 220 in the upward longitudinal direction along one or more guides of the frame assembly 200. Figure 5DAs shown, the clamping mechanism 100, which engages with an object (e.g., a second part of the object), can continue to move in the upward longitudinal direction to the fourth exemplary arrangement shown, wherein the first frame element 210 abuts against one or more upper track stops defined along the length of the guide rod of the frame assembly 200.

[0047] For example, in various embodiments, when the clamping mechanism 100 (e.g., one or more gripping elements 120) engages with a second portion of the object and the first frame element 210 engages with a first portion of the object, this exemplary reconfiguration of the end actuator 10, defined by the movement of the clamping mechanism 100 away from the engagement surface 211 of the frame assembly 200 in the upward longitudinal direction, operatively facilitates the reconfiguration of at least a portion of the object (e.g., a bag defined by the object) from a nominal configuration to a tightened configuration.

[0048] Figure 5E It shows Figures 5A to 5D Another front perspective view of the exemplary end effector shown, wherein the end effector 10 is arranged in a fifth exemplary arrangement, which corresponds to the fifth operation of the exemplary material handling operation described herein. Figure 5D In the fourth exemplary arrangement shown, the clamping mechanism 100 in the activated arrangement (e.g., the second part of the object is fixed within the first gripping arm 121 and the second gripping arm 122 of one or more gripping elements 120) has already retracted in the upward longitudinal direction, such as via the longitudinal actuating arm 130 in a direction away from the first part of the object, and the first frame element 210 of the frame assembly 200 engages with the first part. For example, the end effector 10 may be configured such that the clamping mechanism 100 can continue to move in the upward longitudinal direction independently of the first frame element 210 fixed against the first part of the object, as described above. As the longitudinal distance between the second part of the object (e.g., fixed between one or more gripping elements 120) and the first part of the object (e.g., against the engagement surface 211 of the first frame element 210) increases, such upward longitudinal movement of the clamping mechanism 100 may cause an increase in strain, stress and / or other internal forces present within the object when the longitudinal movement of the first frame element 210 is at least partially restricted by one or more physically abutting track stops.

[0049] In various implementation schemes, as referenced herein Figure 6The exemplary end effector 10 may be configured to determine, at least based on data captured by the one or more sensors, the stress and / or strain on an object (e.g., the tension of a bag defined by the exemplary object), corresponding to, defined by, and / or otherwise affected by the relative position of one or more gripping elements 120 (e.g., an interface defined by a minimized lateral clearance between a first gripping arm 121 and a second gripping arm 122 in an actuation configuration) relative to the engagement surface of the first frame element 210. For example, as referenced herein... Figure 4A and Figure 6 The exemplary frame component 200 may define one or more spring elements (e.g., Figure 4A The exemplary end effector 10 contains elements 233A, 233B, 233C, and 233D, and Figure 6 Elements 601 and 602 in the exemplary end effector 600, the one or more spring elements are configured to provide the resistance required to determine strain and / or stress in an object (e.g., a bag) using one or more position sensors of the end effector 10.

[0050] For example, Figure 5E The exemplary fifth arrangement of the end effector 10 shown represents an arrangement in which the end effector is selectively configured (e.g., via a controller communicatively connected thereto) to transfer an object engaged therewith from a first position within the transport environment to a second position within the transport environment, while ensuring both (i) the positional integrity of the items within the outer bag defined by the object, and (ii) the structural integrity of the stack defined by the arrangement of the multiple items within the outer bag. By engaging the bag simultaneously in the second and first portions (e.g., via the clamping mechanism 100 and the frame assembly 200, respectively) and selectively moving one or more parts of the end effector 10 relative to each other to secure the object in an arrangement defined by a predetermined amount of sensor strain (e.g., a predetermined force threshold directly or indirectly defined by position data captured by one or more sensors of the end effector 10), the exemplary end effector 10 can be configured to facilitate the execution of more customized material handling operations adapted to the specific structural characteristics of the object defined by the multiple stacked items disposed within the outer bag.

[0051] In various embodiments, the exemplary end effector may also include one or more sensors configured to measure data that at least partially corresponds to the position of the frame assembly relative to one or more of the object and the clamping mechanism. For example, Figure 6 An exemplary end effector 600 including one or more sensors is shown according to various embodiments described herein.

[0052] For example, as described herein, at least a portion of one or more sensors of the end effector 600 may be configured to capture data corresponding to the position of at least a portion of the frame assembly and / or detect that the frame assembly of the end effector 600 (e.g., the engagement surface of the first frame element) has been physically engaged with an object. As a non-limiting example, in various embodiments, an exemplary controller may be configured to receive data captured by one or more sensors and transmitted to those sensors, thereby determining, at least in part, that the first frame element of the end effector 600 has been physically engaged with an object (e.g., a first portion of the object) based on captured data corresponding to measured strain and / or stress present within at least a portion of the first frame element and / or on movement of the first frame element relative to a second frame element of the frame assembly in a longitudinal direction (e.g., along one or more guide rods) in a direction at least substantially toward the second frame element. As another non-limiting example, in various embodiments, at least a portion of one or more sensors is embodied as a position sensor configured to capture position data of the positional arrangement (e.g., relative arrangement) of one or more components defining a frame assembly. The exemplary controller may be configured to receive data captured by the one or more sensors and transmitted to the one or more sensors in order to determine, based on the captured position data, the strain and / or stress present in at least a portion of an object engaged with the frame assembly (e.g., a bag portion).

[0053] Furthermore, in various embodiments, one or more sensors of the exemplary end effector 10 may be configured to measure data at least partially corresponding to the position of the frame assembly 200 relative to one or more of the object and the clamping mechanism 100. In various embodiments, at least a portion of the one or more sensors defined by the end effector 10 may be configured to determine and / or capture data corresponding to the relative position of the clamping mechanism 100 with respect to at least a portion of the frame assembly (e.g., the first frame element 210, the second frame element 220, one or more track stops, etc.), wherein the relative position is defined along a longitudinal axis. In various embodiments, one or more sensors utilized by the end effector 200 may be fixed relative to the frame assembly 200 and may be configured to determine the relative position of the clamping mechanism 100 with respect to at least a portion of the frame assembly 200 based on one or more detected forces corresponding to the arrangement of the first frame element 210 relative to the second frame element 220 of the frame assembly 200.

[0054] As a non-limiting example provided for illustrative purposes, Figure 6The exemplary end effector 600 shown includes a plurality of sensors, including a first sensor 610, a second sensor 620, a third sensor 630, and a fourth sensor 640. The plurality of sensors 610A, 620A, 630A, and 640A may be configured to uniformly capture data that facilitates the characterization of one or more of the following: the arrangement of the frame assembly relative to the exemplary object, the arrangement of a first frame element of the frame assembly relative to a second frame element of the frame assembly, and the arrangement of a first frame element of the frame assembly relative to at least a portion of a gripping mechanism (e.g., one or more gripping elements). As a non-limiting example, in various embodiments, one or more sensors 610, 620, 630, and 640 defined by the exemplary end effector 600 may include position sensors configured to measure and / or capture position data defined by the relative positions of the first and second frame elements of the frame assembly, based at least in part on the configuration of one or more spring elements (e.g., a first spring element 601 and a second spring element 602) defined by the frame assembly. For example, in various embodiments, the frame assembly 200 may include one or more spring elements 601, 602 operatively coupled to both a first frame element and a second frame element of the frame assembly and configured such that a variable spring force defined by each of the one or more spring elements 601, 602 can be varied based on the relative position of the second frame element with respect to one or more of the first frame element and the clamping mechanism along a longitudinal axis. For example, in various embodiments, the exemplary end effector 600 may include one or more sensors 610A, 620A, 630A, 640A, configured to capture data corresponding to the relative position of the first frame element with respect to the second frame element, which is influenced by and / or at least partially corresponds to the spring resistance (e.g., compression spring force and / or contraction spring force) generated by each of the one or more spring elements 601, 602. In various embodiments, one or more sensors 610, 620, 630, 640 may be calibrated according to the configuration of one or more spring elements 601, 602, such that position data captured by one or more sensors 610A, 620A, 630A, 640A can facilitate accurate determination of stress and / or strain within an object engaged with the frame assembly, which describes the resistance provided by the spring force of one or more spring elements 601, 602.For example, one or more position sensors 610A, 620A, 630A, 640A may be configured to facilitate the determination of the relative position of one or more dynamically constructible components of the end effector 600 (e.g., the relative position of a dynamic first frame element relative to a rigid second frame element) based at least in part on one or more forces generated by the spring elements 601, 602 of the frame assembly, thereby facilitating the determination that one or more internal strength characteristics (e.g., stress, strain, etc.) defined by the object engaged with the end effector 600 have reached a predetermined threshold.

[0055] For example, in various embodiments, multiple sensors 610A, 620A, 630A, 640A may each include a door sensor configured to capture data corresponding to the position of a first frame element (e.g., a dynamic frame element of the frame assembly configured to move relative to a rigid second frame element based on the first frame element being movable along a guide rod of the frame assembly and configured to physically contact an object). For example, based at least in part on first position data (e.g., a first signal) captured and / or generated by a first sensor 610A, second position data (e.g., a second signal) captured and / or generated by a second sensor 620A, third position data (e.g., a third signal) captured and / or generated by a third sensor 630A, and fourth position data (e.g., a fourth signal) captured and / or generated by a fourth sensor 640A, a plurality of sensors 610A, 620A, 630A, and 640A may be configured to facilitate determining that a first frame element engaging with an exemplary object is located at a first longitudinal position 610, a second longitudinal position 620, a third longitudinal position 630, and a fourth longitudinal position 640, respectively, along one or more guide rods. In various embodiments, an exemplary controller may be configured to receive and process position data captured by the plurality of sensors 610A, 620A, 630A, and 640A to determine, at least in part, based on the position of the first frame element defined by the data captured by the sensors, one or more internal force conditions present within an object (e.g., a bag defined by the object) under a specific arrangement of a given end effector.

[0056] As described herein, in some embodiments, one or more sensors may be configured to sense position data defined by indications of the presence and / or movement of one or more components of the frame assembly through corresponding predetermined positions. For example, in various embodiments, a controller may be configured to utilize indications of the presence of components of the frame assembly at predetermined positions (e.g., captured via one or more sensors) to determine the relative position of one or more components of the end effector 600 based on one or more known characteristics of one or more spring elements, without using various imaging devices to optically detect component positions.

[0057] In various embodiments, one or more sensors may be configured to directly and / or indirectly facilitate the measurement of forces applied to a first portion of one or more objects by the engagement surface of the first frame element. For example, in various embodiments, the first engagement surface may be configured to engage with a first portion of the object to which initial pressure is applied. When one or more gripping elements of the gripping mechanism engage with a second portion of the object and translate further away from the engagement surface of the first frame element in the upward longitudinal direction, the physical contact between the first portion of the object and the first frame element results in additional forces (e.g., pressure, strain, stress, etc.) on the object. In various embodiments, one or more sensors may be configured to translate along a corresponding guide rod, wherein one or more sensors may translate along the corresponding guide rod from an initial position 610 to a second position 620 and / or a third position 630. In various embodiments, a fourth position 640 may define a threshold strain position, wherein, upon determining that a position has been reached relative to the engagement surface of the first frame element, the controller of the exemplary robot system may be configured to transmit one or more control signals to the end effector 600 to prevent further translation of the gripping mechanism relative to the first frame element of the frame assembly in the longitudinal direction.

[0058] Figure 7 An exemplary controller component 700, in electronic communication with various other components of an exemplary robot system 702 according to various embodiments of the present disclosure, is shown. As shown, the controller component 700 includes processing circuitry 710, communication elements 720, input / output elements 730, memory 740, and / or other components configured to perform the various operations, programs, functions, etc., described herein.

[0059] In some implementations, controller component 700 may be or include a printed circuit board (PCB). In some examples, controller component 700 (e.g., PCB) may also include one or more of the following: a full-bridge motor driver, a Hall sensor, one or more thermal sensors, one or more user interfaces, one or more protection circuits, configuration management circuitry, a wireless interface, sensing element circuitry (e.g., image sensor circuitry), an interface connector, power control circuitry, gate driver circuitry, etc.

[0060] The processing circuitry 710 can be embodied as a device comprising one or more microprocessors having an accompanying digital signal processor, one or more processors without an accompanying digital signal processor, one or more coprocessors, one or more multi-core processors, one or more controllers, processing circuitry, one or more computers, various other processing elements (including integrated circuits, such as, but not limited to, application-specific integrated circuits (ASICs) or field-programmable gate arrays (FPGAs)) or some combination thereof. Therefore, although in Figure 7 While shown as a single processor, in embodiments, processing circuitry 710 may include multiple processors and signal processing modules. These multiple processors may be embodied on a single electronic device or distributed across multiple electronic devices that are collectively configured to function as circuitry for robot system 702. The multiple processors may be operatively communicable to each other and may be collectively configured to perform one or more functions of the circuitry for the robot system as described herein. In an exemplary embodiment, processing circuitry 710 may be configured to execute instructions stored in memory 740 or otherwise accessible to processing circuitry 701. When executed by processing circuitry 710, these instructions may cause the circuitry for robot system 702 to perform one or more functions as described herein.

[0061] In various implementations, the controller 700 can be configured to communicate with the robot system 702 via a wireless external communication network using any of a variety of protocols, such as Embedded SIM (eSIM), SIM Remote Configuration (RSP), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 200 (CDMA200), CDMA200 1X (1xRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data Rate Evolution of GSM (EDGE), Time Division Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolved Data Optimization (EVDO), High-Speed ​​Packet Access (HSPA), High-Speed ​​Downlink Packet Access (HSDPA), IEEE 802.11 (Wi-Fi), and Wi-Fi. Direct, 802.16 (WiMAX), Ultra Wideband (UWB), IR protocol, NFC protocol, RFID protocol, IR protocol, ZigBee protocol, Z-Wave protocol, 6LoWPAN protocol, Wibree, Bluetooth protocol, Wireless Universal Serial Bus (USB) protocol and / or any other wireless protocol.

[0062] In one or more embodiments, controller 700 may be configured to communicate via one or more communication elements 720, wherein controller 700 may be configured to transmit operational commands to an end effector and / or one or more components of a robot system. For example, in various embodiments, controller may be configured to transmit one or more command signals to an end effector, wherein the command signals may be configured to actuate the end effector to engage an object in a handling environment. In various embodiments, controller may be configured to transmit one or more additional signals to an end effector and / or robot system, wherein one or more additional signals may be configured for the end effector to perform the various operations previously described. In various embodiments, controller 700 may be configured to communicate with robot system 702, wherein controller may be configured to communicate with one or more vision systems of robot system 702, which is configured to detect objects in a handling environment.

[0063] Regardless of whether the processing circuit 710 is constructed using a hardware approach, a firmware / software approach, or a combination thereof, the processing circuit may include an entity capable of performing operations according to embodiments of this disclosure while being constructed accordingly. Thus, for example, when the processing circuit 710 is implemented as an ASIC, FPGA, etc., the processing circuit 710 may include specially constructed hardware for performing one or more of the operations described herein. Additionally or alternatively, when the processing circuit 710 is embodied as an executor of instructions (such as those that can be stored in memory 740), these instructions may specifically construct the processing circuit 710 to perform one or more algorithms and operations described herein.

[0064] Therefore, the processing circuit 710 used herein may refer to a programmable microprocessor, microcomputer, or one or more multiprocessor chips that can be constructed by software instructions (application programs) to perform functions including the various embodiments described above. In some devices, multiple processors may be provided dedicated to wireless communication functions and one processor dedicated to running other applications. The software application may be stored in internal memory before being accessed and loaded into the processor. The processor may include sufficient internal memory to store the application software instructions. In many devices, the internal memory may be volatile memory, or non-volatile memory such as flash memory, or a combination of both. The memory may also be located within another computing resource (e.g., enabling computer-readable instructions to be downloaded via the Internet or another wired or wireless connection).

[0065] The memory 740 may include suitable logic, circuitry, and / or interfaces adapted to store a set of instructions executable by the processing circuitry 710 to perform predetermined operations. Additionally or alternatively, the memory 740 may be configured to store data / information, application programs, instructions, etc., enabling the controller component 700 to perform various functions according to embodiments of the present disclosure. For example, in at least some embodiments, the memory 740 is configured to cache input data for processing by the processing circuitry 710. Therefore, in at least some embodiments, the memory 740 is configured to store program instructions for execution by the processing circuitry 710. The memory 740 may store information in static and / or dynamic information forms. When performing functions, the stored information may be stored and / or used by the controller component 700. Exemplary memory implementations may include, but are not limited to, hard disks, random access memory, cache memory, read-only memory (ROM), erasable programmable read-only memory (EPROM) and electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic tape cassettes, magnetic tape, disk storage devices or other magnetic storage devices, optical disc read-only memory (CD-ROM), digital versatile optical disc read-only memory (DVD-ROM), optical discs, circuitry configured to store information, or some combination thereof. In an exemplary implementation, without departing from the scope of this disclosure, memory 740 may be integrated with processing circuitry 710 on a single chip.

[0066] Communication element 720 may be implemented as any means comprising circuitry, hardware, computer program products, or combinations thereof, configured to receive data from and / or transmit data to another component or device. The computer program product includes computer-readable program instructions stored on a computer-readable medium (e.g., memory 740) and executed by processing component 700 (e.g., processing circuitry 710). In some embodiments, communication element 720 (like the other components discussed herein) may be at least partially implemented as or otherwise controlled by processing circuitry 710. In this regard, communication element 703 may communicate with processing circuitry 710, for example, via a bus. Communication element 703 may include, for example, an antenna, transmitter, receiver, transceiver, network interface card, and / or supporting hardware and / or firmware / software, and is used to establish communication with another device. Communication element 720 may be configured to receive and / or transmit any data that may be stored in memory 740 using any protocol available for communication between devices. The communication element 720 may additionally or alternatively communicate with the memory 740, the input / output element 730 and / or any other component of the processing unit 700, for example via a bus.

[0067] In some embodiments, processing unit 700 may include input / output element 730. Input / output element 730 may communicate with processing circuitry 710 to receive instructions input by a user and / or provide auditory, visual, mechanical, or other outputs to the user. Therefore, input / output element 730 may include supporting devices such as a keyboard, mouse, display, touchscreen display, and / or other input / output mechanisms. Alternatively, at least some aspects of input / output element 730 may be implemented on a user-used device to communicate with processing unit 700. Input / output element 730 may communicate, for example, via a bus with memory 740, communication element 720, and / or any other components. One or more input / output modules and / or other components may be included in processing unit 700.

[0068] Those skilled in the art to which these embodiments pertain will, having benefited from the teachings presented in the foregoing description and related drawings, conceive of numerous modifications and other embodiments of the present disclosure set forth herein. Therefore, it should be understood that the present disclosure is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of the appended claims. Furthermore, although the foregoing description and related drawings describe exemplary embodiments in the context of certain example combinations of elements and / or functions, it should be understood that different combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of the appended claims. In this regard, for example, combinations of elements and / or functions different from those explicitly described above, as shown in some of the appended claims, may also be contemplated. Although specific terminology is used herein, it is used only in a general and descriptive sense and not for limiting purposes.

Claims

1. An end effector configured to selectively engage with an object, the end effector comprising: Framework components; and A clamping mechanism configured to grip the object using one or more gripping elements, the one or more gripping elements being configured between an open configuration and an open configuration; The clamping mechanism is capable of moving independently relative to the frame assembly in one or more directions; The end effector is configured to engage with the object such that the frame assembly contacts a first portion of the object and the clamping mechanism contacts a second portion of the object. and The framework components include: A first frame element, configured to move together with a positioning mechanism operatively coupled to the end effector; and A second frame element, configured to contact the first portion of the object, operatively coupled to the first frame element, and configured to move relative to the first frame element at least in part based on the contact between the second frame element and the first portion of the object.

2. The end effector of claim 1, wherein the first frame element defines a rigid configuration relative to the positioning mechanism, and wherein the second frame element is configured to move relative to the first frame element along a longitudinal axis based on at least one force acting on the second frame element in a direction at least partially longitudinal.

3. The end effector of claim 1, wherein the one or more gripping elements include a first gripping arm and a second gripping arm, the first gripping arm and the second gripping arm being configured to define a lateral clearance between the first gripping arm and the second gripping arm.

4. The end effector of claim 3, wherein the first gripping arm and the second gripping arm are laterally movable relative to each other such that the lateral clearance is defined by an adjustable clearance width configured to vary when the gripping mechanism is selectively configured between the open configuration and the actuation configuration.

5. The end effector of claim 4, wherein the actuation configuration of the clamping mechanism is defined by the following: one or more of the first gripping arm and the second gripping arm are moved to minimize the adjustable gap width of the lateral gap between the first gripping arm and the second gripping arm, so as to secure a second portion of the object between the first gripping arm and the second gripping arm.

6. The end effector of claim 1, wherein the clamping mechanism is movable independently relative to the frame assembly along a longitudinal axis.

7. The end effector of claim 6, wherein the one or more gripping elements can be configured to be positioned between the opening configuration and the activation configuration based on one or more movements along a lateral axis.

8. The end effector of claim 7, wherein the longitudinal axis is perpendicular to the lateral axis.

9. The end effector of claim 1, wherein the end effector is configured to selectively reconstruct at least a portion of the object engaged with the end effector between a nominal configuration and a tightening configuration.

10. The end effector of claim 9, wherein the end effector is configured to selectively reconfigure at least a portion of an object engaged with the end effector between the nominal configuration and the tightening configuration based on independent movement of the clamping mechanism relative to the frame assembly, the independent movement causing an increase in the longitudinal distance defined between a first portion of the object engaged with the frame assembly and a second portion of the object engaged with the clamping mechanism.

11. The end effector of claim 9, wherein the end effector is configured to selectively reconfigure at least a portion of the object into a tightening configuration when the one or more gripping elements are disposed in the activation configuration.

12. The end effector of claim 11, wherein the end effector is configured to selectively reconfigure at least a portion of the object into the tightening configuration when the frame assembly engages with the first portion of the object.

13. The end effector of claim 1, wherein the end effector is configured to selectively and simultaneously move the frame assembly and the clamping mechanism along a longitudinal axis to engage at least a portion of the object and reposition the object from a first longitudinal position to a second longitudinal position; and wherein the end effector is further configured to independently and selectively move the clamping mechanism relative to the frame assembly along the longitudinal axis to reconfigure the object from a nominal configuration to a tightened configuration.

14. The end effector of claim 1, further comprising one or more sensors configured to measure data at least partially corresponding to the position of the frame assembly relative to one or more of the object and the clamping mechanism.

15. The end effector of claim 14, wherein at least a portion of the one or more sensors is configured to detect engagement of the frame assembly with the object.

16. The end effector of claim 14, wherein at least a portion of the one or more sensors is configured to determine the relative position of the clamping mechanism with respect to at least a portion of the frame assembly, the relative position being defined along a longitudinal axis.

17. The end effector of claim 16, wherein at least a portion of the one or more sensors is configured to determine the relative position of the clamping mechanism with respect to at least a portion of the frame assembly based on one or more detected forces corresponding to the arrangement of a first frame element of the frame assembly relative to a second frame element of the frame assembly, wherein the frame assembly is configured to contact the second portion of the object at the second frame element.

18. The end effector of claim 14, wherein at least a portion of the one or more sensors is configured to sense position data defined by one or more of a first frame element and a second frame element of the frame assembly, wherein the frame assembly is configured to contact the second portion of the object at the second frame element, wherein the frame assembly includes one or more spring elements operatively coupled to both the first frame element and the second frame element such that repositioning of the first frame element relative to the second frame element is at least partially affected by a spring force defined by the one or more spring elements, and wherein the end effector is configured such that the spring force varies based on the relative position of the second frame element with respect to one or more of the first frame element and the clamping mechanism along a longitudinal axis.

19. A system for transporting objects in a transport environment, the system comprising: An end effector configured to selectively engage with the object, the end effector comprising: Framework components; and A clamping mechanism configured to grip the object using one or more gripping elements, the one or more gripping elements being configured between an open configuration and an open configuration; The clamping mechanism is capable of moving independently relative to the frame assembly in one or more directions; The end effector is configured to engage with the object such that the frame assembly contacts a first portion of the object, and the clamping mechanism contacts a second portion of the object. The framework components include: A first frame element, configured to move together with a positioning mechanism operatively coupled to the end effector; and A second frame element, configured to contact the first portion of the object, operatively coupled to the first frame element, and configured to move relative to the first frame element at least partially based on the contact between the second frame element and the first portion of the object; and A controller, communicatively connected to the end effector, is configured to generate one or more control signals to control a first arrangement of the one or more gripping elements between the open configuration and the activated configuration, and a second arrangement of the clamping mechanism relative to the frame assembly defined along a longitudinal axis.

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