End effector tool changer for robotic systems

Abstract

The invention discloses an end effector tool changer for a robotic system. The rotating shaft is compact in structure, firm in machine, high in radial strength, capable of preventing unexpected rotation, capable of using minimum sensing input, suitable for various tools and rapid in operation. The end effector tool changer includes: a robot arm attachment portion including a first magnetic portion and a first engagement portion; and a tool attachment portion including a second magnetic portion and a second engagement portion, where the first engagement portion is engaged with the second engagement portion, and the first engagement portion and the second engagement portion are sorted from a group consisting of a pin and a socket, and the first magnetic part corresponds to the second magnetic part in space and magnetism.

Description

Technical Field

[0001] The present invention relates to the field of robotic systems that use artificial intelligence, computer vision and / or mechanical systems to manipulate (e.g., pick, sort and place) objects, and in particular to tool changers for robotic systems. Background Art

[0002] This document provides a description of the background of the invention to help understand the invention and its application and uses, and the contents of this section are not necessarily prior art.

[0003] Several methods have been used to change the end effector tool of a robotic system to pick up objects of different sizes, weights, materials, and fragility. However, most of these methods require manual intervention, are too slow, and result in new tools that are weak or unreliable. For example, some traditional tool changers have two or more magnets that are magnetized and axially symmetrical. Such tool changers have low radial strength, and the tool portion may accidentally disconnect from the robot arm portion even under small lateral forces. In addition, such tool changers are prone to rotation, including unintended rotation, and cannot control axial rotation.

[0004] Therefore, in order to solve the problems in the prior art, it is necessary to provide an end effector tool changer for various robotic systems (e.g., picking, sorting and placing robotic systems), which should be compact, mechanically sturdy, have high radial strength, be able to prevent unexpected rotation, use minimal sensor input, be suitable for a variety of tools and be fast to operate.

[0005] The present invention is proposed based on this background. Summary of the invention

[0006] The present invention relates to an end effector tool changer for various robotic systems, such as pick, sort and place robotic systems.

[0007] More specifically, in various embodiments, the present invention is an end effector tool changer for a robotic system, comprising: a robot arm attachment portion, which includes a first magnetic portion and a first coupling portion; and a tool attachment portion, which includes a second magnetic portion and a second coupling portion; wherein the first coupling portion is coupled to the second coupling portion, wherein the first coupling portion and the second coupling portion are selected from a group consisting of a pin and a socket; and wherein the first magnetic portion corresponds to the second magnetic portion in space and magnetically.

[0008] In some embodiments, the first magnetic part is an upper magnet that slides into a cavity of the first engagement part, and the second magnetic part is a lower magnet that slides into a cavity of the second engagement part.

[0009] In some embodiments, the cross-sectional shapes of the first engaging portion and the second engaging portion are bonded.

[0010] In some embodiments, the cross-sectional shape of the first engaging portion and the second engaging portion is non-circular.

[0011] In some embodiments, the cross-sectional shape of the first engaging portion and the second engaging portion is hexagonal.

[0012] In some embodiments, the tool attachment portion further comprises a plurality of bracket slots.

[0013] In some embodiments, at least one of the plurality of bracket slots has a beveled surface.

[0014] In some embodiments, the plurality of stent slots are stent slot pairs.

[0015] In some embodiments, the end effector tool changer further includes a tool plate including a slot, wherein the slot is sized to correspond to the plurality of bracket slots.

[0016] In some embodiments, the slot is tapered.

[0017] In some embodiments, the robot attachment portion further includes a robot attachment portion through hole, and the tool attachment portion further includes a tool attachment portion through hole.

[0018] In some embodiments, the robot attachment portion through-hole and the tool attachment portion through-hole carry electrical power or electrical signals.

[0019] In some embodiments, the robot attachment portion through hole and the tool attachment portion through hole include a plurality of air channels, wherein each of the plurality of air channels maintains a vacuum or carries compressed air.

[0020] In some embodiments, the robot arm attachment portion through hole is adjacent to the leak prevention device.

[0021] In some embodiments, the first engagement portion comprises a pin having a tapered tip.

[0022] In some embodiments, the second engagement portion comprises a beveled socket.

[0023] In some embodiments, the robotic system is a robotic system for object manipulation.

[0024] Other aspects and embodiments of the present invention include methods and processes including steps described herein, and also include operating processes and modes of systems and devices described herein. Other aspects and embodiments of the present invention can be easily understood by combining the accompanying drawings and specific embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The embodiments provided herein are for illustrative purposes only and do not limit the scope of the present invention. The embodiments are described illustratively in conjunction with the accompanying drawings as follows:

[0026] Figure 1A , 1B 1C and 1C show exemplary robotic systems according to some embodiments.

[0027] Figure 2A An isometric view of an exemplary arm attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0028] Figure 2B An isometric view of an exemplary tool attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0029] Figure 2C A cross-sectional view of an exemplary arm attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0030] Figure 2D A cross-sectional view of an exemplary tool attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0031] Figure 2E A side view of an exemplary arm attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0032] Figure 2F A side view of an exemplary tool attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0033] Figure 2G A top view of a pair of exemplary tool plates for a robotic system is shown in accordance with one embodiment of the present invention.

[0034] Figure 3A An isometric view of an exemplary detached end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0035] Figure 3B and 3C An isometric view of an exemplary engaged end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0036] Figure 3D A cross-sectional view of an exemplary separated end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0037] Figure 3E A cross-sectional view of an exemplary engaged end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0038] Figure 4A An exploded view of an exemplary arm attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0039] Figure 4B An exploded view of an exemplary tool attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0040] Figure 5 An exemplary end effector tool changer having exemplary dimensions for a robotic system is shown in accordance with one embodiment of the present invention.

[0041] Fig. 6A , 6B , 6C, 6D, 6E and 6F illustrate various exemplary states of an end effector tool changer for a robotic system according to one embodiment of the present invention.

[0042] Figure 7 An example state flow for tool retrieval of an end effector tool changer of a robotic system is shown in accordance with one embodiment of the present invention.

[0043] Figure 8 An example state flow for tool storage of an end effector tool changer of a robotic system is shown in accordance with one embodiment of the present invention.

[0044] Fig. 9 An example state flow for tool switching of an end effector tool changer of a robotic system is shown in accordance with one embodiment of the present invention.

[0045] Fig.10 An illustrative flow chart for loading an end effector tool for a robotic system is shown in accordance with one embodiment of the present invention.

[0046] Fig.11An illustrative flow chart for unloading an end effector tool of a robotic system is shown in accordance with one embodiment of the present invention.

[0047] Fig.12 An illustrative flow chart for connecting a source pump corresponding to an end effector tool of a robotic system is shown in accordance with one embodiment of the present invention.

[0048] Fig.13 An illustrative flow chart for determining whether an end effector tool is at a designated tool slot on a tool holder using a tool sensor in accordance with one embodiment of the present invention is shown.

[0049] Fig.14A An illustrative flow chart for determining whether a tool is present at an end effector using a weight sensor in a robotic system in accordance with one embodiment of the present invention is shown.

[0050] Fig. 14B An illustrative flow chart for using a vision system in a robotic system to determine whether a tool is present at an end effector in accordance with one embodiment of the present invention is shown.

[0051] Fig. 14C An illustrative flow chart for determining whether a tool is present at an end effector using a tool line in a robotic system in accordance with one embodiment of the present invention is shown.

[0052] Fig.14D An illustrative flow chart for determining whether an attachment tool is damaged using a pressure sensor in a robotic system according to one embodiment of the present invention is shown.

[0053] Fig.15A An illustrative flow chart for using a weight sensor in a robotic system to detect that an object grasped by an attached tool has been dropped is shown in accordance with one embodiment of the present invention.

[0054] Fig. 15B An illustrative flow chart for detecting grasping of multiple objects by an attached tool using a weight sensor in a robotic system according to one embodiment of the present invention is shown.

[0055] Fig. 15C An illustrative flow chart for using a vision system in a robotic system to detect multiple objects being grasped by an attached tool is shown in accordance with one embodiment of the present invention.

[0056] Fig.16 An illustrative flow chart for replacing a separate tool into a tool rack of a robotic system is shown in accordance with one embodiment of the present invention.

[0057] Fig.17An illustrative flow chart for adjusting light intensity to improve a robotic system's view of an object or tool is shown, in accordance with one embodiment of the present invention.

[0058] Fig.18 An illustrative flow chart for selecting a tool for picking up an object by a robotic system is shown in accordance with one embodiment of the present invention.

[0059] Fig.19 An illustrative flow chart for a robotic system to select a next tool based on a detected object type is shown in accordance with one embodiment of the present invention.

[0060] Fig. 20 An illustrative flow chart for replacing an object previously placed in an incorrect output assembly in a robotic system is shown in accordance with one embodiment of the present invention.

[0061] Fig.21 An illustrative flow chart for detecting dropped objects using a vision system in a robotic system, according to one embodiment of the present invention, is shown.

[0062] Fig. 22 An illustrative flow chart for detecting dropped objects using pressure sensors in a robotic system, according to one embodiment of the present invention, is shown.

[0063] Fig.23 An illustrative flow chart for stopping motion of a robotic arm in a robotic system based on input from a vision system, in accordance with one embodiment of the present invention, is shown.

[0064] Fig.24 An illustrative flow chart for determining a trajectory of a robotic arm based on data received from a vision system in a robotic system, according to one embodiment of the present invention is shown.

[0065] Fig.25A An illustrative flow chart for a robotic system updating a tool status table after a loading operation is shown in accordance with one embodiment of the present invention.

[0066] Fig.25B An illustrative flow chart for a robotic system updating a tool status table after an unloading operation is shown in accordance with one embodiment of the present invention.

[0067] Fig.25C An illustrative flow chart for a robotic system updating a tool state table based on sensor data, in accordance with one embodiment of the present invention, is shown.

[0068] Fig.25D An illustrative flow chart for a robotic system to validate a tool state table based on sensor data and generate a notification in accordance with one embodiment of the present invention is shown.

[0069] Fig.26 A block diagram of a server (management computing entity) according to one embodiment of the present invention is provided.

[0070] Fig. 27 An illustrative schematic diagram of a client (user computing entity) that may be used in conjunction with embodiments of the present invention is provided.

[0071] Fig.28 An illustrative system architecture diagram for implementing one embodiment of the present invention in a client-server environment is shown. DETAILED DESCRIPTION

[0072] Overview

[0073] Embodiments of the present invention are described in detail with reference to the accompanying drawings provided. For the purpose of explanation, many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, in the absence of these specific details, it is also apparent to those skilled in the art that the present invention can be implemented. In other cases, schematic diagrams, use cases and / or flow charts are used to show structures, equipment, activities and methods to avoid confusing the present invention. For illustrative purposes, although the following description contains many details, it will be appreciated by those skilled in the art that many variations and / or changes in the details provided below are all within the scope of the present invention. Similarly, although many features of the present invention are described by being related to or combined with each other, it will be appreciated by those skilled in the art that these features can also be provided independently. Therefore, the following description provided by the present invention is set forth in the general case of the present invention, and does not limit the scope of the present invention.

[0074] Several methods have been used to replace end effector tools in sort and place robotic systems to pick up objects of different sizes, weights, materials, and fragility. However, most of these methods either require manual intervention, are too slow to change, cannot securely hold the new tool, or are unreliable. For example, some traditional tool changers have two or more magnets that are magnetized and axially symmetric. Such tool changers have low radial strength and may accidentally disconnect from the robot arm even under small lateral forces. In addition, such tool changers are prone to rotation, including unintended rotation, and cannot control axial rotation.

[0075] Therefore, in order to solve the problems in the prior art, it is necessary to provide an end effector tool changer for various robotic systems, which should be mechanically strong, have high radial strength, be able to prevent unintended rotation, use minimal sensor input, be suitable for a variety of tools and operate quickly.

[0076] Contents of end effector tool changer in robotic system

[0077] Figure 1A , 1B 1C shows an exemplary robotic system 100 according to some embodiments of the present invention. The robotic system 100 is capable of manipulating a variety of different objects 103, including new objects that the system has not previously picked up, placed, or even recognized. In some embodiments, the robotic system is a pick, sort, and place robotic system.

[0078] In some embodiments, the robotic system 100 includes an end effector that also includes a tool for manipulating an object. In some embodiments, the end effector and tool control the position of the object while remaining stationary relative to the robotic system. For example, the robotic system can change the slope or other characteristics of the surface on which the object is located to slide it into a fixed tool, such as a gripper or suction cup.

[0079] In other embodiments, the end effector and the tool are attached to a motion device, such as a movable robotic arm 102. The tool may include a knife that can cut or stab an object, a key that can open a lock, or a center punch that can mark a board. In some embodiments, the tool can be used for a pick, sort, and place robotic system. Such tools can include grippers and suction cups. Although the following description discloses tools and related systems for pick, sort, and place robotic systems, embodiments for other types of tools will be apparent to those skilled in the art.

[0080] The pick, sort and place robotic system 100 includes a robotic arm 102, various input and output components and structures, such as a sorting rack 150 and a container rack 180. An operator 101 may supervise or assist the robotic arm (see Figure 1A ). In some cases, such as Figure 1B As shown, the sorting rack 150 and / or the container rack 180 are replaced by a conveyor 184, a placement wall 186, and / or an automatic guided vehicle (AGV) 188, or the sorting rack 150 and / or the container rack 180 include the above components. The robot arm 102 identifies the object 103 from the loading box 152 in the sorting rack 150, picks up the object, and places the grasped object at a position (e.g., box 182) in the container rack 180. Figure 1C As shown, the sorting rack 150 may include a support structure 154, which is a system of metal support members bolted together. The side of the support structure 154 opposite the robot arm 102 may include an opening that enables a loading box (such as loading box 152) or other container to be inserted into the sorting rack 150. The sorting rack 150 optionally includes a base 156 for supporting the container.

[0081] The pick, sort and place robot system 100 also includes a control system 170 for monitoring and managing the robot's motion. The control system provides instructions and / or command signals for moving (e.g., rotating, extending, retracting) various components of the robot arm 102. The control system 170 includes a processor 171, a memory 172 (e.g., a non-transitory computer-readable storage medium), a data link 173, a communication interface, and other components. The control system may also optionally include a cloud component 174 having a processor 175 and a database 176 accessible via a local or remote network (e.g., the Internet).

[0082] The pick, sort and place robot system 100 also includes a vision system having a vision processor 169, a sensor device 160, and other components. Each sensor device 160 can have one or more cameras 162, a variety of sensors 163 (e.g., image, depth, visible light and / or infrared sensors), a barcode reader 164, or other components. In some cases, the image data captured by the camera 162 includes visible light data (e.g., RGB data) and / or depth information (e.g., the distance of the object in the image from the camera). The captured image data is sent to the control system for processing. The vision system can have any number of sensors and cameras. Its components can be supported by any robot, input / output component or structure and can be located in another location.

[0083] The pick, sort and place robot system 100 also includes a motion controller 177. The vision processor 169 and the motion controller 177 can be located outside or inside the control system 170. For example, Figure 1A and 1B A motion controller 177 located external to the control system and a vision processor 169 located internal to the control system are shown.

[0084] The pick, sort and place robot system 100 may also include a light curtain system including a plurality of sensors 165 that generate a light curtain 166. The pick, sort and place robot system 100 may also include a LIDAR 167. The light curtain system and LIDAR may be used for safety purposes (e.g., monitoring human motion around the robot system) or for operational purposes (e.g., detecting motion of objects or system components). The pick, sort and place robot system 100 may also include lighting 168 that may be dimmed based on tote color or other environmental and operational factors.

[0085] The robot arm 102 includes a base 104 for mounting to a support surface (e.g., the ground or some other support structure). A frame 106 is rotatably connected to the base 104. A lower arm 108 is rotatably connected to the frame 110. An upper arm 112 is rotatably connected to the lower arm 108. An end effector 114 is rotatably connected to the upper arm 112. The end effector 114 includes one or more tools 116 and a tube 115. The end effector 114 and each tool 116 have a tool changer 117 component that enables various tools to be compatible with the end effector 114. A tool rack 118 is used to store and access various tools. Each tool slot on the tool rack 118 has a tool sensor 119 to indicate the presence or absence of a tool. Figure 1A and 1B A variety of gripping and suction tools are shown, such as finger grippers and suction tools of various sizes. As shown in FIG. 1 , the gripper 116 is a pneumatic gripper. Other grippers, such as gripping fingers or other types of suction grippers, may also be used. In some cases, the end effector 114 is consistent and / or multi-purpose.

[0086] The pick, sort and place robot system 100 may also include a vacuum source 120 (e.g., a pump) or a compressed air source 121 to provide the pressure required to use the tool, where vacuum represents negative pressure and compressed air represents positive pressure. Each source is controlled by a source switch 122, which can be operated by the control system. The source selection switch 123 enables the control system to select the appropriate source to operate the tool currently in use. The hose 124 passes from the end effector through the robotic arm to the location of the source. The valve 125 enables the control system to select the source of pressure, or connect the hose to the atmosphere (i.e., no positive or negative pressure is applied). The pressure sensor 126 enables the control system to monitor the pressure level in the hose. The components of the tool changer 127 enable efficient and reliable tool replacement. The weight sensor 131 located on the end effector enables the control system to monitor the weight of the tool and its load (see Figure 1A ). In some embodiments, a tool wire 128 extending from the end effector to the base or robot arm frame enables the control system to determine whether a tool is attached to the end effector.

[0087] The control system 170 and all components of the vision system (e.g., cameras and sensors) are connected via a data link 173. In addition, all components of the robotic system that participate in motion or monitoring (e.g., motion controller 177, pump / selector switches 122 / 123, valves 125, pressure sensors 126, tool sensors 119, lighting 168) have a data link 173 connected to the control system 170.

[0088] When the robot system picks up a load using the end effector 114 connected to the load cell, the load cell acts as a converter to convert the gravity of the load applied to the load cell, i.e., its weight, into an electrical output signal collected by the robot system, thereby detecting the weight of the load. However, most commercially available load cells are designed to process and measure only one-dimensional force. When the load cell is subjected to forces in other directions, the resulting torsion or bending may damage the load cell and cause errors in the weight measurement.

[0089] When the robotic system identifies the load to be picked up, it can also determine the specific end effector tool that is most suitable for picking up the load among multiple tools. However, in some cases, the robotic system may need to frequently change tools between different objects. In this case, a tool changer that can operate automatically without human intervention is very necessary. Current solutions include end effectors with magnetic coupling components that can be seamlessly connected and separated. However, some such devices are axially magnetized and have low radial strength, easily rotated, making the system difficult to use and control. In addition, the magnetic coupling may also have the problem of not being strong enough: the tool may fall off due to collision or sudden movement. A new solution is to add mechanical pins to the magnetic coupling component to maintain the orientation of the two components and increase radial strength. The end effector tool changer described in the present invention includes a system designed for this purpose.

[0090] Interactions between system components of a robotic system

[0091] In some embodiments, a pick and place robotic system includes: a robotic arm having an end effector with an attached tool at its end; a tool changer; a tool rack; a vision system; and a control system. The tool changer also includes a robotic arm attachment portion and a tool attachment portion. The tool rack includes one or more tool plates and a plurality of tools. The control system includes a processor, a non-transitory computer readable storage medium, and a plurality of communication interfaces.

[0092] In some embodiments, at least one tool comprises a tool attachment portion of a tool changer at a proximal end thereof.The robot attachment portion is attached to the tool attachment portion, and at least one tool plate comprises a tool slot.

[0093] In some embodiments, each tool plate has exactly one tool slot. In other embodiments, the tool plate can have multiple tool slots. In one embodiment, the tool rack also includes one or more sensors associated with the tool slot, wherein the one or more sensors indicate whether a tool is present in the tool slot.

[0094] In one embodiment, the control system receives data from each sensor on the tool rack and can determine at any time whether a given tool is located in its slot in the tool rack.

[0095] In yet another embodiment, the tool attachment portion further comprises a plurality of grooves spatially corresponding to the tool slots on the tool plate.

[0096] The grooves enable the tools to be slid into the tool holder and to be removed from the tool holder securely and in a timely manner.

[0097] In one embodiment, the pick and place robotic system further includes a weight sensor at the distal end of the end effector, wherein the weight sensor measures the weight of the attached tool and its payload (eg, one or more objects).

[0098] The weight sensor enables the control system to detect the presence or absence of the tool, as well as the number of objects it is carrying.

[0099] In one embodiment, the pick and place robotic system further comprises a circuit, wherein the circuit indicates the presence of a tool attached to the end effector. In one embodiment, the circuit is a tool line.

[0100] When the tool is attached to the end effector, the tool line can contact the tool to communicate to the control system whether the tool is attached. In one embodiment, the presence of the tool is determined by an electrical signal (e.g., by detecting changes in wire impedance, current intensity, voltage, etc.).

[0101] In one embodiment, the tool wire extends from the tool through a through-end effector tube to a proximal portion of the robot arm, such as a base or frame thereof, where information is transmitted to a control system via a data link.

[0102] In some embodiments, the pick and place robot system further comprises a plurality of input and output components, wherein at least one output component corresponds to a target object type, and wherein the plurality of input and output components are selected from a group consisting of a sorting rack, a loading box, a container rack, a storage box, a loading box conveyor, a target object conveyor, a placement wall, an automated guided vehicle (AGV), and a partition.

[0103] Objects may be classified by type. The type may relate to their shape (e.g., round vs. elongated objects), their material of manufacture (e.g., plastic vs. metal objects), their color, or their properties (e.g., fruit vs. vegetable, apple vs. orange). In one embodiment, objects with the same barcode or the same destination (e.g., shipping address, destination department in an office or factory, etc.) are of the same type. In one embodiment, objects belonging to the same order (e.g., they have the same order number) are of the same type. In one embodiment, each of the various output assemblies (e.g., boxes in a sorting rack) is associated with a different type of object.

[0104] In some embodiments, the manipulator and tool attachment portion further comprises a through hole. In some embodiments, the through hole transmits vacuum or compressed air between the connected tool and its corresponding source pump. In some embodiments, the through hole comprises a mechanical path. In some embodiments, the through hole comprises an electrical path. In further embodiments, the manipulator and tool attachment portion comprises a plurality of through holes, each of which can be any of the aforementioned types.

[0105] In one embodiment, the pick and place robot system further comprises a first hose, wherein the through hole of the robot arm attachment portion is connected to a distal end of the first hose.

[0106] In one embodiment, the pick and place robot system further comprises a pressure sensor, wherein the pressure sensor is located on the first hose. Data (e.g., pressure readings) from the pressure sensor can indicate the presence or absence of an attached tool or a pick-up target.

[0107] In one embodiment, the pick and place robot system further comprises a source pump, wherein the source pump is connected to the proximal end of the first hose, and the source pump is a vacuum pump or a compressed air pump.

[0108] In a system operated with a single source pump, the first hose is hose 124, such as Figure 1A and 1B As shown in FIG. 1 , the hose 124 connects the tool directly to the source pump, wherein the term "connect" means enabling the flow of air, vacuum or pressure.

[0109] In another embodiment, the pick and place robotic system further comprises a valve and one or more second hoses, wherein the valve connects the proximal end of the first hose to an output of the valve, wherein the output is atmosphere or at least one second hose.

[0110] In one embodiment, the pick and place robot system further comprises one or more source pumps, wherein at least one second hose connects the output end of the valve to one of the one or more source pumps, at least one of the tools corresponds to one of the one or more source pumps, and the source pump among the one or more source pumps is a vacuum pump or a compressed air pump.

[0111] In systems operating with multiple source pumps (e.g., a vacuum pump and a compressed air pump), valves are required to switch between pumps or to connect the tool to atmosphere (i.e., disconnect all pumps). Figure 1A and 1B As shown, the first hose is the distal end of the hose 124. In addition, a second hose is required to connect the valve to each source pump. Figure 1A and 1B As shown, the second hose is the proximal segment of hose 124 that connects the valve to each source pump.

[0112] In one embodiment, each source pump has a pump switch to activate the source pump, and the control system uses the pump select switch to activate the desired pump switch via a data link or any other form of control signal (eg, electrical on / off signal).

[0113] In other embodiments, a fluid pump is used to control the tool. In this case, the through hole, hose, pressure sensor and valve are operated using fluid.

[0114] In one embodiment, the vision system includes a vision processor, multiple vision communication interfaces and one or more vision components, wherein the vision components are selected from the group consisting of a camera, a barcode reader, a depth sensor, an infrared sensor, a light curtain system and a LIDA; wherein at least one component of the vision system is connected to the vision processor via a data link, and the vision processor is connected to the control system via a data link.

[0115] In one embodiment, the pick and place robotic system further comprises a light source, wherein the light source emits light at multiple intensities.

[0116] In one embodiment, the control system controls the motion of the robotic arm via a motion controller. In one embodiment, the motion controller also controls a valve.

[0117] In one embodiment, data from pressure sensors, weight sensors, tool lines, vision system sensors, tool sensors, or any other component with a communication interface is transmitted to the control system at regular intervals (i.e., data push). In another embodiment, such data is transmitted only when the control system sends a request (i.e., data pull).

[0118] In one embodiment, the tool wire continuously and instantaneously provides the control system with information about the presence of the attached tool at the end effector via electrical signals.

[0119] Components of the end effector tool changer

[0120] Figure 2A FIG. 2 shows an isometric view of an exemplary arm attachment portion 201 for an end effector tool changer 117 of a robotic system 100 according to one embodiment of the present invention. The arm attachment portion 201 is attached to the arm 102 of the robotic system 100 and is in contact with the end effector tool changer 117 of the robotic system 100. Figure 2B The tool attachment portion 211 of the end effector tool changer 117 shown in the figure is complementary. The faces of the aforementioned two parts are in contact, so that the arm attachment portion 201 and the tool attachment portion 211 are matched or engaged. When the arm attachment portion 201 is attached to the arm 102 of the robot system 100, the arm attachment portion 201 and the tool attachment portion 211 are matched or engaged, and the tool attachment portion 211 is attached to the tool 116 of the robot system 100, the tool 116 is loaded onto the arm of the robot system. On the contrary, when the arm attachment portion 201 is attached to the arm 102 of the robot system 100, the arm attachment portion 201 and the tool attachment portion 211 are not engaged, and the tool attachment portion 211 is attached to the tool 116 of the robot system 100, the tool 116 is unloaded from the arm 102 of the robot system 100.

[0121] The arm attachment portion 201 and the tool attachment portion 211 are matched or engaged by an engagement mechanism and are held together by a magnetic system. In some embodiments, the magnetic system includes a first magnetic portion 341 ( Figure 3D shown) and the second magnetic portion 343 ( Figure 3D As shown), the first magnetic portion 341 is associated with or is a part of the arm attachment portion 201, and the second magnetic portion 343 is associated with or is a part of the tool attachment portion 211. In some embodiments, the engagement mechanism includes a first engagement portion 203 and a second engagement portion 213, the first engagement portion 203 is associated with or is a part of the arm attachment portion 201, and the second engagement portion 213 is associated with or is a part of the tool attachment portion 211. In some embodiments, the first engagement portion of the engagement mechanism serves as or includes a pin 203, and the pin 203 protrudes from the surface of the arm attachment portion 201, as shown. Figure 2A Similarly, in some embodiments, the second engagement portion of the engagement mechanism serves as or includes a socket 213, such as Figure 2BA set of embodiments and components described in this set of embodiments are shown in the accompanying drawings, but other distributions of the pins and sockets are obvious to those skilled in the art. Figure 2B .

[0122] In some embodiments, the arm attachment portion 201 (also referred to as the "upper assembly") includes the first magnetic portion 341 of the magnetic system and a body 207 (also referred to as the "upper body"), the body 207 also including the pin 203. Figure 2B , the first magnetic part 341 of the magnetic system corresponds spatially and magnetically to the second magnetic part 343. In some embodiments, the first magnetic part 341 of the magnetic system is a magnet (also referred to as an "upper magnet"). In some embodiments, the upper magnet 341 is a ring magnet. In some embodiments, the pin 203 is spatially centered on the face of the arm attachment part 201.

[0123] When pin 203 is Figure 2B When the tool attachment portion 211 of the end effector tool changer 117 is coupled as shown, the pin 203 can maintain the orientation of the end effector tool 116 so that the system does not rotate. In addition, the pin 203 provides radial strength, which can increase the robustness of the system when the system is subjected to mechanical disturbances such as collisions. In order to prevent rotation between the arm attachment portion 201 and the tool attachment portion 211 when the pin 203 and the socket 213 are engaged, in some embodiments, the cross-section of the pin 203 can be keyed. In some embodiments, the cross-section of the pin 203 is non-circular. In other embodiments, the cross-section of the pin 203 is polygonal. In other embodiments, the polygon is hexagonal.

[0124] In some embodiments, the pin 203 and the rest of the upper body 207 are constructed together as an integral part, such as by molding, machining or 3D printing. The advantages of an integral part include easier and faster batch production and higher consistency of the upper body 207 of the same batch.

[0125] The arm attachment portion 201 optionally includes a through hole 219 to implement various functions of the tool 116. In some embodiments, the through hole 219 can maintain a vacuum for the vacuum-driven tool 116. In some embodiments, the through hole 219 can carry compressed air for the compressed air-driven tool 116. In other embodiments, the through hole 219 can carry a mechanical connection or an electrical connection between the arm 102 and the tool 116, such as a wire with electrical power or an electrical signal. In some embodiments, the through hole 219 is the location of an electrical contact point, such as a spring-loaded telescopic pin. In some embodiments, the arm attachment portion 201 includes a plurality of through holes 219, each of which can be any of the above-mentioned types. In some embodiments, each through hole in the plurality of through holes 219 corresponds to a separate air channel for controlling the vacuum-driven tool 116 or the compressed air-driven tool 116. In such embodiments, the plurality of through holes 219 therefore corresponds to a plurality of air channels.

[0126] Figure 2B FIG. 2 shows an isometric view of an exemplary tool attachment portion 211 of an end effector tool changer 117 for a robotic system 100 according to one embodiment of the present invention. The tool attachment portion 211 is attached to the gripper 116 of the robotic system and is in contact with the end effector tool changer 117 of the robotic system 100. Figure 2A The tool attachment portion 211 includes the second magnetic portion 343 of the magnetic system and a body 209 (also referred to as a "lower body"), the lower body 209 also including a socket 213 and a plurality of bracket slots 215. Figure 2A As shown, the second magnetic part 343 of the magnetic system corresponds spatially and magnetically to the first magnetic part 341 of the magnetic system of the arm attachment part 201. In some embodiments, the second magnetic part 343 of the magnetic system is a magnet (also referred to as a "lower magnet"). In some embodiments, the lower magnet 343 is a ring magnet.

[0127] The position, orientation, and magnetic strength of the first magnetic portion 341 and the second magnetic portion 343 of the magnetic system provide sufficient force to hold the payload 103 on the tool 116, but still enable the robot system 100 to easily replace the tool 116 by sliding off the tool attachment portion 211 according to the method described in the present invention. For example, if the magnetic force is too strong, the robot system 100 will not be able to remove the tool attachment portion 211. When the first magnetic portion 341 and the second magnetic portion 343 of the magnetic system are firmly attracted to each other by magnetic force, the magnetic system is considered to be engaged. Otherwise, the magnetic system is considered to be disengaged. In some embodiments, the first magnetic portion 341 of the magnetic system is one or more magnets, and the second magnetic portion 343 of the magnetic system is one or more magnets. In some embodiments, the first magnetic portion 341 of the magnetic system is one or more magnets, and the second magnetic portion 343 is a component comprising a non-magnetized ferromagnetic material. In some embodiments, the first magnetic portion 341 of the magnetic system is a component comprising a non-magnetized ferromagnetic material, and the second magnetic portion 343 is one or more magnets. In some embodiments, any of the above magnets are electromagnets. In some embodiments, any of the above magnets are permanent magnets. In some embodiments, the first magnetic portion 341 and the second magnetic portion 343 of the magnetic system are magnets of similar shape to each other, so as to have sufficient attraction between each other. For example, both magnets are ring magnets, or both magnets are square magnets.

[0128] The socket 213 spatially corresponds to the pin 203 of the arm attachment portion 201. In some embodiments, the cross-section of the socket 213 is bondable. In some embodiments, the cross-section of the socket 213 is non-circular. In other embodiments, the cross-section of the socket 213 is polygonal. In other embodiments, the polygon is hexagonal. In some embodiments, the pin 203 and the socket 213 are chamfered, which enables the robot system 100 to successfully connect the arm attachment portion 201 and the tool attachment portion 211 even in the presence of spatial misalignment, thereby enhancing operational stability and repeatability.

[0129] exist Figure 2A and 2B In the illustrated embodiment, the pin 203 is a protrusion having a hexagonal cross section, and the socket 213 is shaped as a depression for receiving the pin 203. The depression is topologically different from a hole. However, it will be appreciated by those skilled in the art that the pin 203 and the socket 213 can be in various shapes. For example, the pin 203 can be a protrusion of any cross-sectional shape (e.g., circular, elliptical, polygonal), similar to a hillock, and the socket 213 can be a corresponding groove, so that when the pin 203 and the socket 213 are engaged, relative rotation of the arm attachment portion 201 and the tool attachment portion 211 does not occur.

[0130] like Figure 2G As shown in FIG. , a plurality of bracket slots 215 mate with the slots of the tool plate.

[0131] In some embodiments, the size, shape, and position of the pin 203 and the corresponding socket 213 have a tolerance. In this way, slight misalignment can be accommodated when adding tools. In some embodiments, the tip of the pin 203 is tapered, and / or the socket 213 is beveled to have a wider lip, so that when the pin 203 is inserted into the corresponding socket 213, misalignment can be automatically corrected.

[0132] In some embodiments, the upper body 207 including the pin 203 is made of an aluminum alloy. In some embodiments, the lower body 209 is made of a softer material, such as nylon or polyoxymethylene (POM). The aluminum alloy sliding on the softer material can withstand millions of attachments and detachments with minimal wear.

[0133] Those skilled in the art will readily appreciate that the pin 203 and the socket 213 may have various different configurations. For example, the two components may be switched so that the tool attachment portion 211 includes the pin 203 and the arm attachment portion 201 includes the socket 213.

[0134] The tool attachment portion 211 optionally includes a through hole (not shown) to interact with the tool 116. The through hole can be aligned with the through hole 219 of the arm attachment portion 201, thereby establishing a sealed channel for the tool 116 when the arm attachment portion 201 and the tool attachment portion 211 are connected. A leak-proof device (e.g., an O-ring, annular foam) can be used to seal the interface between the through hole 219 of the arm attachment portion 201 and the through hole 219 of the tool attachment portion 211. In some embodiments, the sealed channel can transmit vacuum, compressed air, mechanical connection or electrical connection. In some embodiments, the through hole 219 is centered on the face of the tool attachment portion 211 and the arm attachment portion 201, respectively. In some embodiments, the tool attachment portion 211 includes a plurality of through holes, each of which can be any of the above-mentioned types.

[0135] Figure 2C A cross-sectional view 211 of an exemplary arm attachment portion 201 of an end effector tool changer 117 for a robotic system 100 is shown in accordance with one embodiment of the present invention. Figure 3D , 3E and 4A for further discussion.

[0136] Figure 2DA cross-sectional view 231 of an exemplary tool attachment portion 211 of an end effector tool changer 117 for a robotic system 100 is shown in accordance with one embodiment of the present invention. The components shown therein will be referred to as Figure 3D , 3E Discuss further with 4B.

[0137] Figure 2E A side view 241 of an exemplary arm attachment portion 201 of an end effector tool changer 117 for use with a robotic system 100 is shown in accordance with one embodiment of the present invention.

[0138] Figure 2F A side view of an exemplary tool attachment portion of an end effector tool changer for a robotic system is shown in accordance with one embodiment of the present invention.

[0139] Figure 2G 1 shows a top view of a pair of exemplary tool plates for use with a robotic system 100 according to one embodiment of the present invention. The tool plate 271 on the left is shown as empty, i.e., it does not hold any tool attachment portions. In contrast, the tool plate 275 on the right is shown as full, i.e., it holds a tool attachment portion 273. In some embodiments, as Figure 1A , 1B As shown in Figures 1 and 2, the tool plates 271, 275 are part of the tool holder. The tool plates 271, 275 include slots 269 whose size corresponds to the size of the plurality of bracket slots 215 of the tool attachment portion 273, so that the tool plates 271, 275 can securely fix the tool attachment portion 273 in the slots 269 by the edges 263. In some embodiments, the tool plates 271, 275 also include tapered slots 265 to automatically correct slight misalignments. It should be noted that Figure 2G The tool plates 271, 275 shown in the figures may be different from the tool plate components shown in the other figures; the figures shown are merely illustrative embodiments of the tool plates, and the components shown therein may be combined in various different ways.

[0140] In some embodiments, the tool plates 271, 275 are made of mild steel or other ferromagnetic materials. When the tool attachment portion 273 is docked in the tool plates 271, 275, the lower magnet 343 in the tool attachment portion 273 can attract the tool plates 271, 275, thereby ensuring that the tool attachment portion 273 returns to a repeatable position in the tool plates 271, 275.

[0141] In some embodiments, the tool plates 271, 275 have a hole-shaped configuration 267 so that a sensor 119 can be installed, which monitors whether the tool attachment portion 273 is in the docking position. In some embodiments, the sensor 119 includes a Hall effect sensor, an infrared sensor, an ultrasonic sensor, and a capacitive sensor. This monitoring function enables the system to detect whether the tool attachment portion 273 has fallen off during operation, or has been removed by the operator 101. In some embodiments, the tool plates 271, 275 also have a hole-shaped configuration 267 for a magnet assembly. The magnet assembly mounts a permanent magnet at the docking position near the lower tool changer assembly, thereby more firmly holding the tool attachment portion 273 in the docking position.

[0142] Engagement and disengagement of the end effector tool changer

[0143] Figure 3A An isometric view of an exemplary detached end effector tool changer 117 for use with the robotic system 100 is shown in accordance with one embodiment of the present invention.

[0144] Figure 3B and 3C An isometric view of an exemplary engaged end effector tool changer 117 for a robotic system 100 is shown in accordance with one embodiment of the present invention. Figure 3B In the embodiment, the tool attachment portion 211 is docked in the tool plate 271. Conversely, in Figure 3C , the tool attachment portion 211 is not docked in the tool plate 271 .

[0145] Figure 3D A cross-sectional view of an exemplary detached end effector tool changer 117 for use with the robotic system 100 is shown in accordance with one embodiment of the present invention. Figure 3E A cross-sectional view of an exemplary engaged end effector tool changer 117 for a robotic system 100 is shown in accordance with one embodiment of the present invention.

[0146] refer to Figure 3A , 3B, 3C, 3D and 3E, the arm attachment portion ("upper assembly") 201 includes a first magnetic portion 341 (e.g., an upper magnet) of the magnetic system and a pin 203. In some embodiments, the cross-section of the pin 203 is bondable. In some embodiments, the cross-section of the pin 203 is non-circular. In other embodiments, the cross-section of the pin 203 is polygonal. In other embodiments, the polygon is a hexagon. In some embodiments, the arm attachment portion 201 further includes an axle clamp 205, a clamping screw 411, an axle fitting 349, an upper magnet backing plate 345, a first plurality of assembly screws 413 and a plurality of directional indicator screws 415. The axle clamp 205 is fixed to the axle 311 via the axle fitting 349, which is threadedly connected to the bottom of the axle 311 and the clamping screw 411. The upper magnet backing plate 345 is fastened to the axle clamp 205 using the first plurality of assembly screws 413. The upper magnet 341 slides into the cavity in the pin 203 and the pin 203 is secured to the upper magnet backing plate 345 with the first plurality of assembly screws 413. The upper magnet backing plate 345 may include a circular boss at its center that registers against the top surface of the upper magnet 341. The portions may be sized so that the upper magnet 341 is in direct contact with the upper magnet backing plate 345, which prevents rattling during operation of the tool changer 117. The plurality of orientation indicator screws 415 thread into the pin 203 and register with the plurality of holes in the lower assembly 211 when the lower assembly 211 is connected to the upper assembly 201 in the correct orientation. If the lower assembly 211 is not in the correct orientation, the screws 415 prevent the lower assembly 211 from fully mating with the upper assembly 201. This ensures that the operator 101 does not manually connect the lower assembly 211 in the wrong orientation (i.e., rotated out of position). In some embodiments, the shaft clamp 205, the upper magnet backing plate 345, and the pin 203 are made of an aluminum alloy. In some embodiments, the shaft fitting 349 is made of copper, the upper magnet 341 is made of a neodymium alloy, and the first plurality of assembly screws 413 are made of alloy steel.

[0147] refer to Figure 3A , 3B, 3C, 3D and 3E, the tool attachment portion 211 ("lower assembly") includes a second magnetic portion 343 of the magnetic system (e.g., a lower magnet), a socket 213 and a plurality of bracket slots 215. In some embodiments, the cross-section of the socket 213 is bondable. In some embodiments, the cross-section of the socket 213 is non-circular. In other embodiments, the cross-section of the socket 213 is polygonal. In other embodiments, the polygon is a hexagon. In some embodiments, the tool attachment portion 211 further includes a lower magnet backing plate 347 and a second plurality of assembly screws 451. The lower magnet 343 slides into a cavity in the socket 213. Similar to the upper assembly 201, the lower magnet backing plate 347 may include a circular center boss that applies pressure to the bottom surface of the lower magnet 343, thereby ensuring that the lower magnet 343 does not make a clicking sound during operation. The lower magnet backing plate 347 is secured to the socket 213 via the second plurality of assembly screws 451. In some embodiments, the socket 213 is made of nylon, the lower magnet 343 is made of neodymium alloy, the lower magnet backing plate 347 is made of aluminum alloy, and the second plurality of assembly screws 451 is made of alloy steel.

[0148] The main advantage of the disclosed design is the ability to precisely control the magnet-to-magnet distance, which is directly related to the magnetic retention force between the upper assembly 201 and the lower assembly 211. Because there is no air gap between the lower magnet 343 and the upper magnet 341, they are tight at the bottom of their respective cavities. The dimensions of the parts are set so that the bottom surface of the pin will always be in direct contact with the bottom of the socket 213. Therefore, the upper magnet 341 and the lower magnet 343 are separated only by their housings, which are manufactured with precise tolerances.

[0149] In other embodiments, the shaft fitting 349 is removed from the upper assembly 201, and the shaft clamp 205 and upper magnet backing plate 345 are combined into a single component. This embodiment may include a shaft O-ring to seal the bottom of the shaft 311. In yet another embodiment, the pin 203 is fastened directly to the shaft clamp 205. In addition, the upper magnet backing plate 345 is replaced by a smaller diameter plate, or eliminated entirely, by using features on the shaft clamp 205 or shaft fitting 349 to apply a preload directly to the face of the upper magnet 341.

[0150] Construction of the end effector tool changer

[0151] Figure 4A An exploded view of an exemplary arm attachment portion 201 of an end effector tool changer 117 for use with a robotic system 100 is shown in accordance with one embodiment of the present invention.

[0152] Figure 4BAn exploded view of an exemplary tool attachment portion 211 of an end effector tool changer 117 for a robotic system 100 is shown in accordance with one embodiment of the present invention.

[0153] Figure 5 An exemplary end effector tool changer 117 having exemplary dimensions for use with the robotic system 100 is shown in accordance with one embodiment of the present invention.

[0154] Status of the end effector tool changer

[0155] Fig. 6A , 6B , 6C, 6D, 6E, and 6F illustrate various exemplary states of an end effector tool changer 117 for a robotic system 100 according to one embodiment of the present invention. In these exemplary states, an arm attachment portion 609 is attached to the arm 102 of the robotic system 100. The arm attachment portion 609 can be placed in a tool rack 621, which includes a plurality of tool plates and a plurality of slots, including a first slot 601 and a second slot 603. The tool rack 621 is capable of carrying a plurality of tool attachment portions, including a first tool attachment portion 605 and a second tool attachment portion 607. In some embodiments, the first tool attachment portion 605 is attached to a first fixture of the robotic system 100. In some embodiments, the second tool attachment portion 607 is attached to a second fixture of the robotic system 100.

[0156] Fig. 6A An example state of the end effector tool changer 117 is shown, wherein the first tool attachment portion 605 and the second tool attachment portion 607 are respectively retained in the first slot 601 and the second slot 603, and the arm attachment portion 609 is in a state of not engaging with both the first tool attachment portion 605 and the second tool attachment portion 607, but is about to engage with the first tool attachment portion 605.

[0157] Figure 6B An example state of the end effector tool changer 117 is shown, wherein the first tool attachment portion 605 and the second tool attachment portion 607 are retained in the first slot 601 and the second slot 603 , respectively, and the arm attachment portion 609 is engaged with the first tool attachment portion 605 .

[0158] Figure 6C An example state of the end effector tool changer 117 is shown, wherein the second tool attachment portion 607 is retained in the second slot 603, the first slot 601 is empty, and the arm attachment portion 609 is engaged with the first tool attachment portion 605, wherein the first tool attachment portion 605 is away from the tool holder 621.

[0159] Fig.6D An example state of the end effector tool changer 117 is shown, wherein the first tool attachment portion 605 and the second tool attachment portion 607 are respectively retained in the first slot 601 and the second slot 603, and the arm attachment portion 609 is in a state of not engaging with both the first tool attachment portion 605 and the second tool attachment portion 607, but is about to engage with the second tool attachment portion 607.

[0160] Fig. 6E An example state of the end effector tool changer 117 is shown, wherein the first tool attachment portion 605 and the second tool attachment portion 607 are retained in the first slot 601 and the second slot 603 , respectively, and the arm attachment portion 609 is engaged with the second tool attachment portion 607 .

[0161] Fig. 6F An example state of the end effector tool changer 117 is shown, wherein the first tool attachment portion 605 is retained in the first slot 601, the second slot 603 is empty, and the arm attachment portion 609 is engaged with the second tool attachment portion 607, wherein the second tool attachment portion 607 is away from the tool holder 621.

[0162] State flow of the end effector tool changer

[0163] Figure 7 , 8 9 show example state flows for various actions of the end effector tool changer 117 of the robotic system 100 according to one embodiment of the present invention. In these example state flows, the states shown therein are Fig. 6A , 6B , 6C, 6D, 6E and 6F correspond to the states shown.

[0164] Figure 7 1 shows an example state flow for tool retrieval of the end effector tool changer 117 of the robotic system 100 according to one embodiment of the present invention. In some embodiments, the system 100 uses the action of tool retrieval to load the tool 116 onto the arm 102 of the system 100. Fig. 6A As shown, the system 100 starts from state 701. Then, the system 100 retrieves the first tool attachment portion 605 by engaging the arm attachment portion 609 with the first tool attachment portion 605, at which point the system 100 is in state 703, as shown. Figure 6B Finally, the system 100 moves the first tool attachment portion 605 out of the first slot 601 and away from the tool holder 621, and the system 100 is in state 705, as shown. Figure 6C At this point the first tool attachment portion 605 is retrieved and ready for use.

[0165] Figure 8 801. An example state flow for tool storage of the end effector tool changer 117 of the robotic system 100 is shown in accordance with one embodiment of the present invention. Tool storage can be considered the opposite action of tool retrieval. In some embodiments, the system 100 uses the action of tool storage to unload the tool 116 from the arm 102 of the system 100. The system 100 begins in state 801, as Figure 6C Then, the system 100 stores the first tool attachment part 605 by moving the first tool attachment part 605 toward the tool rack 621 and placing it into the first slot 601. At this time, the system 100 is in state 803, as shown in FIG. Figure 6B Finally, the system 100 disengages the arm attachment portion 609 from the first tool attachment portion 605, at which point the system 100 is in state 805, as shown. Fig. 6A At this time, the first tool attachment part 605 is stored in the tool rack 621 .

[0166] Fig. 9 1 shows an example state flow for tool switching of the end effector tool changer 117 of the robotic system 100 according to one embodiment of the present invention. Fig. 6A The system 100 begins in the state shown, where the arm attachment portion 609 has been disengaged from the first tool attachment portion 605. The system 100 then moves the arm attachment portion 609 to the vicinity of the second tool attachment portion 607 so that the arm attachment portion 609 is ready to engage with the second tool attachment portion 607, at which point the system 100 is in state 901, as shown in FIG. Fig.6D Next, the system 100 switches to the second tool attachment portion 607 by engaging the arm attachment portion 609 with the second tool attachment portion 607, at which point the system 100 is in state 903, as shown. Fig. 6E Finally, the system 100 moves the second tool attachment portion 607 out of the second slot 603 and away from the tool holder 621, and the system 100 is in state 905, as shown. Fig. 6F At this point the second tool attachment portion 607 is retrieved and ready for use.

[0167] Loading and unloading end effector tool changer

[0168] Fig.10 An illustrative flow chart for loading an end effector tool for a robotic system is shown in accordance with one embodiment of the present invention. Fig.10The starting step in the process is to determine the tool to be loaded (step 1001). In step 1003, the system moves the arm toward the tool plate to above the tool determined in step 1001. In step 1005, the system lowers the arm until the pins are located in the corresponding sockets and engage with the magnetic system. In step 1007, the system moves the arm away from the tool plate and is ready for use.

[0169] Fig.11 An illustrative flow chart for unloading an end effector tool for a robotic system is shown in accordance with one embodiment of the present invention. Fig.11 The system begins by moving the arm toward the tool plate (step 1101). In step 1103, the system slides the tool attachment portion onto the tool plate, wherein the groove of the tool attachment portion slides into the slot of the tool plate. In step 1105, the system moves the arm away from the tool plate. In step 1107, the magnetic system is disengaged and the arm is detached from the tool.

[0170] Source pumps and sensors that interact with the end effector tool changer

[0171] Fig.12 An illustrative flow chart for connecting a source pump corresponding to an end effector tool of a robotic system is shown in accordance with one embodiment of the present invention. Fig.12 The system starts by determining the tool to be loaded (step 1201). In step 1203, the system determines the source pump corresponding to the end effector tool determined in step 1201. In step 1205, the system connects the corresponding source pump to the first hose (see FIG. 1206 ) through a valve. Figure 1A and 1B ).

[0172] In one embodiment, the control system sends a signal to the valve via a data link to switch from one valve output to another. In one embodiment, multiple available tools are categorized by their corresponding source pumps. For example, a suction tool may require a compressed air pump, while a gripping tool may require a vacuum pump.

[0173] Fig.13 An illustrative flow chart for determining whether an end effector tool is located at a designated tool slot on a tool holder using a tool sensor according to one embodiment of the present invention is shown. In step 1301, a robotic system receives data from one or more sensors associated with a tool slot. In step 1305, the system determines whether a tool is located in the tool slot based on the sensor data received in step 1301.

[0174] Fig.14AAn illustrative flow chart for determining whether a tool is present at an end effector using a weight sensor in a robotic system in accordance with one embodiment of the present invention is shown. Fig.14A The system starts by receiving data from a weight sensor (step 1401 ). In step 1403 , the system determines whether a tool is attached to the end effector based on the data received from the weight sensor in step 1401 .

[0175] In one embodiment of step 1403, the system compares the weight reading of the weight sensor to the known weight of the attached tool, and if the weight reading is close to the known weight, it indicates that a tool is attached to the end effector.

[0176] Fig. 14B An illustrative flow chart for using a vision system in a robotic system to determine whether a tool is present at an end effector in accordance with one embodiment of the present invention is shown. Fig. 14B The first step is to receive data from the vision system (step 1411). In step 1413, the system determines whether there is a tool attached to the end effector based on the data received from the vision system in step 1411.

[0177] Fig. 14C An illustrative flow chart for determining whether a tool is present at an end effector using a tool line in a robotic system in accordance with one embodiment of the present invention is shown. Fig. 14C The system begins by receiving data from the tool line (step 1421). In step 1423, the system determines whether a tool is attached to the end effector based on the data received from the tool line in step 1421. In other embodiments, by Fig. 14C illustrative flow chart shown, the circuit indicates the presence of a tool attached to the end effector.

[0178] Fig.14D An illustrative flow chart for determining whether an attachment tool is damaged using a pressure sensor in a robotic system according to one embodiment of the present invention is shown. Fig.14D The system starts by receiving data from the pressure sensor (step 1431 ). In step 1433 , the system determines whether the tool attached to the end effector is damaged based on the data received from the pressure sensor in step 1431 .

[0179] In one embodiment of step 1433, the system compares the pressure reading of the pressure sensor to atmospheric pressure, and if the pressure reading is close to atmospheric pressure, it indicates that the attached tool is damaged. In another embodiment, the pressure reading is close to atmospheric pressure, indicating that no tool is attached to the end effector.

[0180] Fig.15AAn illustrative flow chart for detecting that an object grasped by an attached tool has fallen using a weight sensor in a robotic system according to one embodiment of the present invention is shown. The starting step in FIG. 15 is receiving data from the weight sensor (step 1501). In step 1503, the system determines that an object grasped by a tool attached to the distal end of the end effector has fallen based on the data received from the weight sensor in step 1501.

[0181] Fig. 15B An illustrative flow chart for detecting grasping of multiple objects by an attached tool using a weight sensor in a robotic system according to one embodiment of the present invention is shown. Fig. 15B The first step is to receive data from a weight sensor (step 1511). In step 1513, the system determines that the tool attached to the distal end of the end effector has grasped a plurality of objects based on the data received from the weight sensor in step 1511.

[0182] In some embodiments, such as Fig. 15B The illustrative flow chart shown is for detecting multiple picks, after which the system will not pick up again. In other embodiments, the application may prefer to pick up multiple objects at the same time, which is faster. In such an embodiment, a weight sensor detects the total weight of the picked objects, and multiple picks can be rejected only if the total weight of the picked objects exceeds a predetermined threshold.

[0183] Fig. 15C An illustrative flow chart for using a vision system in a robotic system to detect multiple objects being grasped by an attached tool is shown in accordance with one embodiment of the present invention. Fig. 15C The first step is to receive data from the vision system (step 1521). In step 1523, the system determines that the tool attached to the distal end of the end effector has grasped a plurality of objects based on the data received from the vision system in step 1521.

[0184] In some embodiments, such as Fig. 15C The illustrative flow chart shown is for detecting multiple picks, after which the system will not pick again. In other embodiments, the application may prefer to pick multiple objects at the same time, which is faster. In such embodiments, the vision system detects the total number or approximate total volume of picked objects, and can reject multiple picks only if the total number or approximate total volume of picked objects exceeds a predetermined threshold.

[0185] Replacement of separated tools and end effector tool changer

[0186] Fig.16 An illustrative flow chart for replacing a separate tool into a tool rack of a robotic system is shown in accordance with one embodiment of the present invention. Fig.16The starting step is receiving data from the vision system (step 1601). In step 1603, the system determines that the tool at the distal end of the end effector is detached. In step 1605, the system locates the detached tool based on the data received in step 1601. In step 1607, the system determines a pick-up tool based on the shape of the detached tool. In step 1609, the system adds the pick-up tool to the end effector. In step 1611, the system uses the pick-up tool to pick up the detached tool. In step 1613, the system slides the tool attachment portion of the detached tool onto the tool plate, thereby replacing the detached tool in the tool holder.

[0187] Improving Vision for End-Effector Tool Changers

[0188] Fig.17 An illustrative flow chart for adjusting light intensity to improve a robotic system's view of an object or tool is shown, in accordance with one embodiment of the present invention. Fig.17 The starting step is to receive data from the vision system (step 1701). In step 1703, the system determines the light intensity of the light source based on the data received in step 1701.

[0189] In one embodiment, data received from the vision system is used to determine visibility of objects in the input assembly. In one embodiment, low object visibility triggers the system to increase the light intensity of the light source.

[0190] Selecting tools for the end effector tool changer

[0191] Fig.18 An illustrative flow chart for selecting a tool for picking up an object by a robotic system is shown in accordance with one embodiment of the present invention. Fig.18 The system begins by detecting an object to be picked up (step 1801). In step 1803, the system determines one or more pick areas on the surface of the object to be picked up. In step 1805, the system estimates a pick score associated with at least one of the pick areas. In step 1807, the system selects a tool based on the pick scores estimated in step 1805.

[0192] In another embodiment, the system begins by detecting a plurality of objects to be picked and determining one or more pick areas on the surface of each of the objects. In another embodiment, the system may estimate a pick score associated with each determined pick area and select a pick area for each detected object based on the estimated pick score. In another embodiment, the system may prioritize picking objects having a pick area associated with the highest pick score. In yet another embodiment, the system may further estimate a group pick score for a group of detected objects (e.g., objects of the same type) based on the pick score associated with the pick area of ​​each object. In another embodiment, the system may prioritize picking groups of objects (e.g., types) having pick areas associated with the highest group pick scores.

[0193] Fig.19 An illustrative flow chart for a robotic system to select a next tool based on a detected object type is shown in accordance with one embodiment of the present invention. Fig.19 The system begins by receiving data from a vision system (step 1901). In step 1903, the system detects one or more objects to be picked up based on the data received in step 1901. In step 1905, the system determines the object type of the first object of the one or more objects to be picked up. In step 1907, the system selects a tool based on the determined object type.

[0194] In one embodiment, the system may group detected objects (eg, according to their object type) and select a tool based on the size of a group of detected objects.

[0195] Using data from vision systems and sensors for end-effector tool changers

[0196] Fig. 20 An illustrative flow chart for replacing an object previously placed in an incorrect output assembly in a robotic system is shown in accordance with one embodiment of the present invention. Fig. 20 The system begins by receiving data from a vision system (step 2001). In step 2003, the system determines that a previously placed object is placed in an incorrect output assembly based on the data received from the vision system. In step 2005, the system determines the correct output assembly. In step 2007, the system removes the previously placed object from the incorrect output assembly. In step 2009, the system places the previously placed object in the correct output assembly.

[0197] Fig.21 An illustrative flow chart for detecting dropped objects using a vision system in a robotic system, according to one embodiment of the present invention, is shown. Fig.21The initial step is to receive data from the vision system (step 2101). In step 2103, the system determines based on the data received in step 2101 that the object grasped by the tool attached to the distal end of the end effector has fallen.

[0198] Fig. 22 An illustrative flow chart for detecting dropped objects using pressure sensors in a robotic system, according to one embodiment of the present invention, is shown. Fig. 22 The initial step is to receive data from the pressure sensor (step 2201). In step 2203, the system determines based on the data received in step 2201 that the object grasped by the tool attached to the distal end of the end effector has fallen.

[0199] In one embodiment of step 2203, the system compares the pressure reading to atmospheric pressure, and if the pressure reading is close to atmospheric pressure, it indicates that there is no object attached to the end effector tool.

[0200] Fig.23 An illustrative flow chart for stopping motion of a robotic arm in a robotic system based on input from a vision system, in accordance with one embodiment of the present invention, is shown. Fig.23 The starting step is to receive data from the visual system (step 2301). In step 2305, the system stops the movement of the robot arm based on the data received from the visual system in step 2301.

[0201] In one embodiment, when an operator or an unrecognized object obstructs the motion trajectory of the robot arm, the arm movement stops. In another embodiment, the vision system includes a light curtain for detecting obstacles to the movement of the robot arm. In one embodiment, the light curtain serves as a safety measure to protect the operator.

[0202] Fig.24 An illustrative flow chart for determining a trajectory of a robotic arm based on data received from a vision system in a robotic system, according to one embodiment of the present invention is shown. Fig.24 The starting step is to receive data from the vision system (step 2401). In step 2405, the system determines the trajectory of the robot arm based on the data received from the vision system in step 2401.

[0203] Maintaining the tool status table for the end effector tool changer

[0204] Fig.25A , 25B , 25C and 25D show illustrative flow charts for a robotic system maintenance tool status table according to one embodiment of the present invention.

[0205] Fig.25AAn illustrative flow chart for a robotic system updating a tool status table after a loading operation is shown in accordance with one embodiment of the present invention. Fig.25A The starting step is to load a tool from a tool rack (step 2501). In step 2503, the system determines the new status of the tool loaded from the tool rack. In step 2505, the system updates the record in the tool status table corresponding to the tool loaded from the tool rack.

[0206] Fig.25B An illustrative flow chart for a robotic system updating a tool status table after an unloading operation is shown in accordance with one embodiment of the present invention. Fig.25B The first step is to unload the tool into the tool rack (step 2511). In step 2513, the system determines the new status of the tool unloaded into the tool rack. In step 2515, the system updates the record corresponding to the tool unloaded into the tool rack in the tool status table.

[0207] Fig.25C An illustrative flow chart for a robotic system updating a tool state table based on sensor data, in accordance with one embodiment of the present invention, is shown. Fig.25C The system begins by receiving data from one or more sensors associated with a tool slot corresponding to a given tool (step 2521). In step 2523, the system determines whether the tool is present in the tool slot based on the sensor data in step 2521. In step 2525, the system updates the record corresponding to the given tool in the tool status table based on the information in step 2523 that determines whether the tool is present in the tool slot.

[0208] Fig.25D An illustrative flow chart for a robotic system to validate a tool state table based on sensor data and generate a notification in accordance with one embodiment of the present invention is shown. Fig.25D The system begins by receiving data from one or more sensors associated with a tool slot corresponding to a given tool (step 2531). In step 2533, the system determines whether the tool is present in the tool slot based on the sensor data in step 2531. In step 2535, the system verifies the record corresponding to the given tool in the tool status table. In step 2537, the system generates a notification of a tool position error based on the information determined in step 2533 whether the tool is present in the tool slot.

[0209] In various embodiments, the system determines whether a tool is attached to the end effector, whether an object is successfully picked up by the robot arm, whether an object is released or dropped by the robot arm, whether multiple objects are grasped by the attached tool, whether the tool is damaged, and whether the tool is dropped or detached by combining data from one or more vision systems, weight sensors, tool lines, and pressure sensors.

[0210] Exemplary System Architecture

[0211] In an exemplary embodiment of the present invention, one or more servers (management computing entities), one or more networks, and one or more clients (user computing entities) may be included. For example, a server device may be used to remotely control a pick and place robotic system from a remote location, and a client device may be used to remotely monitor the operation of the robotic system. Similarly, various computing components of the robotic system may be implemented using the server or client device architecture described in the present invention. Each of the components, entities, devices, and systems (similar terms used interchangeably herein) may communicate directly or indirectly with each other via the same or different wired or wireless networks. In addition, although Fig.26 and 27 The various system entities are shown as separate, independent entities, but various embodiments of the invention are not limited to this particular architecture.

[0212] Exemplary Management Computing Entity

[0213] Fig.26 A block diagram of a server (management computing entity 2601) according to one embodiment of the present invention is provided. In general, the terms computing entity, computer, entity, device, system and / or similar words used interchangeably herein may refer to, for example, one or more computers, computing entities, desktop computers, mobile phones, tablet computers, tablet phones, laptop computers, portable computers, distributed systems, game consoles, watches, glasses, iBeacons, proximity beacons, keys, radio frequency identification (RFID) tags, headphones, scanners, televisions, dongles, cameras, wristbands, wearable items / devices, information kiosks, input terminals, servers or server networks, blades, gateways, switches, processing devices, processing entities, set-top boxes, relays, routers, network access points, base stations, etc., and / or any combination of devices or entities suitable for performing the functions, operations and / or processes described herein. Such functions, operations and / or processes may include, for example, transmission, reception, operation, processing, display, storage, determination, creation / generation, monitoring, evaluation and / or comparison (similar terms used interchangeably herein). In one embodiment, these functions, operations and / or processes may be performed on data, content and / or information (similar terms used interchangeably herein).

[0214] In one embodiment, the management computing entity 2601 may also include one or more communication interfaces 2620 for communicating with various computing entities, such as by communicating data, content and / or information (similar terms used interchangeably herein) that can be transmitted, received, manipulated, processed, displayed, stored, etc.

[0215] like Fig.26In one embodiment, the management computing entity 2601 may include or communicate with one or more processing elements 2605 (also referred to as processors and / or processing circuits - similar terms used interchangeably herein), and the processing element 2605 and other elements within the management computing entity 2601 may communicate via a bus. It should be understood that the processing element 2605 can be implemented in a variety of different ways. For example, the processing element 2605 can be implemented as one or more complex programmable logic devices (CPLDs), microprocessors, multi-core processors, co-processing entities, application specific instruction set processors (ASIPs), microcontrollers, and / or controllers. In addition, the processing element 2605 can be implemented as one or more other processing devices or circuits. The term circuit can refer to an entire hardware implementation system or a combination of hardware and computer program products. Therefore, the processing element 2605 can be implemented as an integrated circuit, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a programmable logic array (PLA), a hardware accelerator, and / or other circuits. It will therefore be understood that the processing element 2605 can be used for a specific purpose, or to execute instructions stored in a volatile or non-volatile medium or accessible to the processing element 2605. Therefore, whether configured by hardware or by a computer program product or a combination thereof, when configured accordingly, the processing element 2605 is capable of performing steps or operations according to embodiments of the present invention.

[0216] In one embodiment, the management computing entity 2601 may also include or communicate with non-volatile media (also referred to as non-volatile storage, memory, memory storage and / or circuitry - similar terms used interchangeably herein). In one embodiment, the non-volatile storage or memory may include one or more non-volatile storage or memory media 2610, including but not limited to hard disk, ROM, PROM, EPROM, EEPROM, flash memory, MMC, SD memory card, memory stick, CBRAM, PRAM, FeRAM, NVRAM, MRAM, RRAM, SONOS, FJG RAM, millipede memory and / or racetrack memory, etc. It should be understood that the non-volatile storage or memory medium may store a database, a database instance, a database management system, data, an application, a program, a program module, a script, source code, object code, byte code, compiled code, interpreted code, machine code and / or executable instructions, etc. The terms database, database instance and / or database management system (similar terms used interchangeably herein) may refer to a collection of records or data stored in a computer-readable storage medium using one or more database models. The database model may be, for example, a hierarchical database model, a network model, a relational model, an entity-relationship model, an object model, a document model, a semantic model and / or a graph model.

[0217] In one embodiment, the management computing entity 2601 may also include or communicate with volatile media (also referred to as volatile storage, memory, memory storage, and / or memory circuitry - similar terms used interchangeably herein). In one embodiment, the volatile storage or memory may also include one or more volatile storage or memory media 2615, including, but not limited to, RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDR SDRAM, DDR2SDRAM, DDR3 SDRAM, RDRAM, TTRAM, T-RAM, Z-RAM, RIMM, DIMM, SIMM, VRAM, cache memory, and / or register memory, etc. It should be understood that volatile storage or memory media may be used to store databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and / or instructions executable by the processing element 2605, etc. Thus, databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code and / or executable instructions, etc. may be used to control certain aspects of the operation of the management computing entity 2601 with the assistance of the processing element 2605 and the operating system.

[0218] In one embodiment, the management computing entity 2601 may also include one or more communication interfaces 2620 for communicating with various computing entities, such as by communicating data, content, and / or information (similar terms used interchangeably herein) that may be transmitted, received, manipulated, processed, displayed, and / or stored, etc. Such communications may be performed using a wired data transmission protocol, such as Fiber Distributed Data Interface (FDDI), Digital Subscriber Line (DSL), Ethernet, Asynchronous Transfer Mode (ATM), Frame Relay, Data Over Cable Service Interface Specification (DOCSIS), or any other wired transmission protocol. Similarly, the management computing entity 2601 can communicate through a wireless external communication network using any of a variety of protocols, such as General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 1X (1xRTT), Wideband Code Division Multiple Access (WCDMA), Time Division Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Data Optimized (EVDO), High Speed ​​Packet Access (HSPA), High Speed ​​Downlink Packet Access (HSDPA), IEEE 802.11 (Wi-Fi), and the like. Fi), Wi-Fi Direct, 802.16 (WiMAX), Ultra-Wideband (UWB)), Infrared (IR) protocol, Near Field Communication (NFC) protocol, Wibree, Bluetooth protocol, wireless Universal Serial Bus (USB) protocol, and / or any other wireless protocol.

[0219] Although not shown in the figure, the management computing entity 2601 may include or communicate with one or more input elements, such as keyboard input, mouse input, touch screen / display input, motion input, movement input, audio input, pointing device input, joystick input, and / or keyboard input, etc. The management computing entity 2601 may also include or communicate with one or more output elements (not shown), such as audio output, video output, screen / display output, motion output, and / or movement output, etc.

[0220] It should be understood that the locations of one or more components of the management computing entity 2601 can be far apart, such as a distributed system. In addition, the one or more components can be combined, and the management computing entity 2601 can also include additional components that can perform the functions described in the present invention. Therefore, the management computing entity 2601 can be suitable for adapting to various needs and environments. It should be understood that the architecture and description provided herein are for exemplary purposes only, and the present invention is not limited to the various embodiments provided.

[0221] Exemplary User Computing Entities

[0222] A user may be an individual, a company, an organization, an entity, a department within an organization, and / or a representative of an organization and / or an individual, etc. Fig. 27 An illustrative schematic diagram is provided representing a client (user computing entity) 2701 that can be used in conjunction with embodiments of the present invention. In general, the terms device, system, computing entity, entity and / or similar words used interchangeably herein can refer to, for example, one or more computers, computing entities, desktop computers, mobile phones, tablet computers, tablet phones, laptop computers, portable computers, distributed systems, game consoles, watches, glasses, key cards, radio frequency identification (RFID) tags, headphones, scanners, cameras, wristbands, kiosks, input terminals, servers or server networks, blades, gateways, switches, processing devices, processing entities, set-top boxes, relays, routers, network access points, base stations, etc., and / or any combination of devices or entities suitable for performing the functions, operations and / or processes described herein. The user computing entity 2701 can be operated by various parties. As Fig. 27As shown, the user computing entity 2701 may include an antenna 2712, a transmitter 2704 (e.g., a radio transmitting device), a receiver 2706 (e.g., a radio receiving device), and a processing element 2708 (e.g., a CPLD, a microprocessor, a multi-core processor, a co-processing entity, an ASIP, a microcontroller and / or a controller) capable of providing signals to the transmitter 2704 and the receiver 2706 and receiving signals, respectively.

[0223] The signals provided to the transmitter 2704 and the signals received from the receiver 270 may include signaling information according to the air interface standard of the applicable wireless system. In this regard, the user computing entity 2701 can operate with one or more air interface standards, communication protocols, modulation types, and access types. More specifically, the user computing entity 2701 can operate according to any wireless communication standard and protocol, such as described above with respect to the management computing entity 2601. In a specific embodiment, the user computing entity 2701 can operate according to multiple wireless communication standards and protocols, such as UMTS, CDMA2000, 1xRTT, WCDMA, TD-SCDMA, LTE, E-UTRAN, EVDO, HSPA, HSDPA, Wi-Fi, Wi-Fi Direct, WiMAX, UWB, IR, NFC, Bluetooth, and / or USB. Similarly, the user computing entity 2701 can operate according to multiple wired communication standards and protocols, such as described above with respect to the management computing entity 2601 through the network interface 2720.

[0224] Through these communication standards and protocols, the user computing entity 2701 can communicate with various other entities using concepts such as Unstructured Supplementary Service Data (USSD), Short Message Service (SMS), Multimedia Messaging Service (MMS), Dual Tone Multi Frequency (DTMF), and / or Subscriber Identity Module Dialer (SIM Dialer). The user computing entity 2701 can also download changes, add-ons, and updates to its firmware, software (e.g., including executable instructions, applications, program modules), and operating system.

[0225] According to one embodiment, user computing entity 2701 may include aspects of location determination, devices, modules, functions, and / or similar words used interchangeably herein. For example, user computing entity 2701 may include aspects of outdoor positioning, such as a positioning module suitable for obtaining, for example, latitude, longitude, altitude, geocode, route, direction, heading, speed, universal time (UTC), date, and / or various other information / data. In one embodiment, the positioning module may obtain data by identifying the number of satellites in view and the relative positions of these satellites, which are sometimes referred to as ephemeris data. The satellite may be a variety of different satellites, including a low earth orbit (LEO) satellite system, a Department of Defense (DOD) satellite system, the European Union Galileo positioning system, the Chinese compass navigation system, and / or the Indian regional navigation satellite system, etc. Optionally, the location information may be determined by triangulating the location of the user computing entity 2701 in conjunction with various other systems including cellular towers, Wi-Fi access points, etc. Similarly, the user computing entity 2701 may include aspects of indoor positioning, such as a positioning module suitable for obtaining latitude, longitude, altitude, geocode, route, direction, heading, speed, time, date, and / or various other information / data. Some indoor systems may use various location or positioning technologies, including RFID tags, indoor beacons or transmitters, Wi-Fi access points, cellular towers, nearby computing devices (e.g., smartphones, portable computers), etc. For example, such technologies may include iBeacons, Gimbal proximity beacons, low-power Bluetooth (BLE) transmitters, and / or NFC transmitters, etc. These aspects of indoor positioning can be used in various settings to determine the location of someone or something within inches or centimeters of accuracy.

[0226] The user computing entity 2701 may also include a user interface (which may include a display 2716 connected to the processing element 2708) and / or a user input interface (connected to the processing element 2708). For example, the user interface may be a user application, a browser, a user interface, and / or similar words used interchangeably herein, i.e., a device that can be executed and / or accessed by the user computing entity 2701 to interact with and / or cause the display of information of the management computing entity 2601, as described herein. The user input interface may include any device or interface that enables the user computing entity 2701 to receive data, such as a keyboard 2718 (hard or soft), a touch screen display, a voice / speech or motion interface, or other input device. In an embodiment including a keyboard 2718, the keyboard 2718 may include (or cause the display of) conventional numbers (0-9) and related keys (#, *), as well as other keys for operating the user computing entity 2701, and may include a full set of alphabetic keys or a key group that can be activated to provide a full set of alphanumeric keys. In addition to providing input, the user input interface may also be used to activate or deactivate certain features, such as a screen saver and / or sleep mode.

[0227] The user computing entity 2701 may also include volatile storage or memory 2722 and / or non-volatile storage or memory 2724, which may be embedded and / or removable. For example, the non-volatile memory may be ROM, PROM, EPROM, EEPROM, flash memory, MMC, SD memory card, memory stick, CBRAM, PRAM, FeRAM, NVRAM, MRAM, RRAM, SONOS, FJGRAM, millipede memory, and / or racetrack memory, etc. The volatile memory may be RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDR SDRAM, DDR2 SDRAM, DDR3 SDRAM, RDRAM, TTRAM, T-RAM, Z-RAM, RIMM, DIMM, SIMM, VRAM, cache memory, and / or register memory, etc. Volatile and non-volatile storage or memory may store databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code, executable file instructions, and / or the like to implement the functionality of the user computing entity 2701. As shown, the user computing entity 2701 may include a user application resident on the entity or accessible through a browser or other user interface for communicating with the management computing entity 2601 and / or various other computing entities.

[0228] In another embodiment, the user computing entity 2701 may include one or more components or functions that are the same or similar to the management computing entity 2601 described above. It should be understood that the architecture and description provided herein are for exemplary purposes only, and the present invention is not limited to the various embodiments provided.

[0229] The present invention may be implemented in a client server environment. Fig.28 An illustrative system architecture 2800 for implementing one embodiment of the present invention in a client-server environment is shown. A client user device 2801 may include a smartphone 2803, a laptop 2805, a desktop PC 2807, a tablet 2809, or other devices. Such a user device 2801 accesses the services of a system server 2813 through some network connection 2811 such as the Internet.

[0230] in conclusion

[0231] It should be known to those skilled in the art that the described use cases, structures, schematic diagrams and flow charts may be performed in other orders and combinations without departing from the broader scope of the present invention, but the inventive concept of the present invention remains unchanged. Each embodiment may be unique, and the method / steps may be shortened or extended, or overlapped with other actions, or postponed, delayed and continued after a certain time interval of other actions to implement the method of the present invention.

[0232] Although the present invention has been described by reference to specific exemplary embodiments, it is apparent that various modifications and changes may be made to these embodiments without departing from the broadest scope of the present invention. Therefore, the description and drawings should be regarded as illustrative rather than restrictive. It will be apparent to those skilled in the art that the above-described embodiments are specific examples of an invention, wherein the invention described covers a greater scope than the description taught in any single document. Many changes may be made relative to the above description without departing from the scope of the present invention.

Claims

1. An end effector tool changer for a robot system, include: a robot arm attachment portion including a first magnetic portion and a first engagement portion; and a tool attachment portion comprising a second magnetic portion and a second engagement portion; wherein, The first engaging portion is used to engage with the second engaging portion; The first engagement portion and the second engagement portion are selected from the group consisting of a pin and a socket; The first magnetic portion corresponds to the second magnetic portion both spatially and magnetically.

2. The end effector tool changer of claim 1 , wherein the first magnetic portion is an upper magnet that slides into a cavity of the first engagement portion, and wherein the second magnetic portion is a lower magnet that slides into a cavity of the second engagement portion.

3. The end effector tool changer of claim 1, wherein the cross-sectional shapes of the first engagement portion and the second engagement portion are keyed.

4. The end effector tool changer of claim 1, wherein the cross-sectional shape of the first engagement portion and the second engagement portion is non-circular. 5 . The end effector tool changer of claim 4 , wherein the cross-sectional shape of the first engagement portion and the second engagement portion is hexagonal.

6. The end effector tool changer of claim 1, wherein the tool attachment portion further comprises a plurality of bracket slots.

7. The end effector tool changer of claim 6, wherein at least one of the plurality of bracket slots has a beveled surface.

8. The end effector tool changer of claim 6, wherein the plurality of bracket slots are bracket slot pairs.

9. The end effector tool changer of claim 6, further comprising: include: A tool plate includes a slot, wherein the slot is sized to correspond to the plurality of bracket slots.

10. The end effector tool changer of claim 9, wherein the slot is tapered.

11. The end effector tool changer of claim 1, wherein the robot attachment portion further comprises a robot attachment portion through hole, and the tool attachment portion further comprises a tool attachment portion through hole.

12. The end effector tool changer of claim 11, wherein the robot attachment portion through-hole and the tool attachment portion through-hole carry electrical power or electrical signals.

13. The end effector tool changer of claim 11, wherein the robot attachment portion through hole and the tool attachment portion through hole include a plurality of air channels, wherein each of the plurality of air channels holds a vacuum or carries compressed air.

14. The end effector tool changer of claim 11, wherein the robot arm attachment portion through hole is adjacent to the leak prevention device.

15. The end effector tool changer of claim 1, wherein the first engagement portion comprises a pin having a tapered tip.

16. The end effector tool changer of claim 1, wherein the second engagement portion comprises a beveled socket.

17. The end effector tool changer of claim 1, wherein the robotic system is used for object manipulation.

Images