Robot end effector and robot finger thereof

Abstract

In one aspect, a robotic end effector is provided, the robotic end effector comprising: a palm; a plurality of robotic fingers operatively connected to the palm, each finger comprising: a finger base having a proximal end portion operatively connected to the palm and an opposite distal end portion; each of the plurality of fingers is operatively connected to the palm at the proximal end portion and is configured to be rotatable and / or movable relative to the palm, and wherein the suction cup is configured to be movable about a pivot of the distal end portion. Other example embodiments are described herein. In some embodiments, the present disclosure provides a multi-functional, multi-mode robotic end effector for grasping with an improved number of picks per hour (PPH).

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. Non-Provisional Application Serial No. 17 / 807,864, filed on June 20, 2022. The entire contents of the foregoing application are hereby incorporated herein by reference in their entirety for all purposes. Technical Field

[0002] The present invention relates to robotic devices. More particularly, the present invention relates to robotic fingers and robotic end effectors including these robotic fingers for grasping objects. Background Art

[0003] Reliable robotic gripping of objects can benefit a variety of applications, such as warehouses and e-commerce order fulfillment. However, gripping objects of various shapes, textures, and sizes is a huge challenge due to the inherent limitations of each type of robotic end-effector. Therefore, an improved multifunctional robotic end-effector that can handle a variety of objects with an increased number of picks per hour (PPH) is highly desirable. Summary of the invention

[0004] In view of the foregoing background, in certain embodiments, it is an object to provide improved robotic fingers and robotic end effectors, systems thereof, uses thereof, and methods of making the same.

[0005] Accordingly, in one aspect, a robotic end effector is provided, comprising: a palm and a plurality of robotic fingers operatively connected to the palm. Each finger comprises a finger base and a suction cup. The finger base has a proximal portion operatively connected to the palm and an opposite distal portion. Each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to rotate and / or move relative to the palm. The suction cup is configured to move around a pivot of the distal portion.

[0006] In another aspect, a robotic end effector for grasping an object is provided, the robotic end effector comprising: a palm and a plurality of robotic fingers operatively connected to the palm to form a parallel gripper gripper. Each finger comprises: a finger base having a proximal portion operatively connected to the palm and an opposite distal portion; and a suction cup connected to the distal portion by a revolute joint. The suction cup is configured to be movable around an axial axis of a pivot of the distal portion. Each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to be movable relative to the palm. Each of the plurality of fingers is configured to be slidable along a transverse axis substantially perpendicular to the axial axis of the pivot of the corresponding suction cup.

[0007] In another aspect, a robotic finger for a palm of a robot end effector is provided, the robotic finger comprising: a finger base having a proximal portion operatively connected to the palm and an opposite distal portion; and a suction cup. The finger base is configured to rotate and / or move relative to the palm, and the suction cup is configured to move about a pivot of the distal portion.

[0008] Other example embodiments will be described below.

[0009] The present disclosure has many advantages.

[0010] In certain embodiments, the present disclosure provides a multifunctional end effector that combines a multi-mode robot finger with a robot palm via a joint. The joint may be a prismatic joint, a revolute joint, or a hybrid joint. Each multi-mode robot finger includes a finger base that can be rotated or displaced relative to the palm and a suction cup connected to the end of the finger base via a revolute joint. This allows the end effector to switch between multiple gripping modes (e.g., parallel gripping, single suction, multiple suction, pinch-suction, open-suction). Mode conversion allows the end effector to grasp various types of objects with different physical properties (such as mass, geometry, and surface smoothness) without the need to use different types of additional fingers, end effectors, or manipulators, or to replace (or switch) to another finger, end effector, or manipulator. This is superior to using multiple single-mode robot end effectors (such as by using multiple manipulators equipped with different single-mode end effectors or changing tools during runtime) because system complexity is greatly minimized and the number of picks per hour (PPH) is greatly improved.

[0011] In some embodiments, the end effector provided is fully configurable. In some embodiments, the end effector may include different numbers of multi-mode robot fingers. The advantages of these embodiments are twofold. First, each suction cup is connected to the end of each robot finger, such as by a revolute joint, so that a series of dexterous grasping movements can be performed, which introduces multiple grasping modes that help grasp different types of objects. The end effector provided contains multiple degrees of freedom, which enables its dexterity and versatility. Secondly, the robot fingers and end effectors provided are modular and customizable. Therefore, various grasping or manipulation tasks can be achieved by simply customizing specific design parameters (such as the number of fingers). In summary, in some embodiments, the robot fingers and end effectors provided provide synergy for multi-mode grasping, and they are easily configurable so that they can handle various objects with an increased number of picks per hour. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1Ais a perspective view of an example robotic end effector according to an example embodiment.

[0013] Figure 1B Is based on Figure 1A An exploded perspective view of a robotic finger of an example robotic end effector of the same example embodiment is shown.

[0014] Figure 1C to Figure 1D Is based on Figure 1A A schematic diagram of an example robotic end effector for calculating forward kinematics and inverse kinematics of the same example embodiment is shown.

[0015] Figure 2 is a perspective view of an example robotic end effector having three robotic fingers according to another example embodiment.

[0016] Figure 3 is a perspective view of an example robotic end effector having four robotic fingers according to another example embodiment.

[0017] Figure 4A and Figure 4B are two perspective side views of an example robot end effector according to an example embodiment, respectively illustrating the degrees of freedom of a suction cup and the range of motion of a finger base of the example robot end effector.

[0018] Figure 4C and Figure 4D Is based on Figure 4A Two perspective side views of the same example embodiment of an example robotic end effector (with and without an object grasped) in an example parallel grasping mode are shown.

[0019] Figure 4E Is based on Figure 4A A perspective side view of an example robotic end effector of the same example embodiment shown in an example single suction mode.

[0020] FIG. 4F to FIG. 4H Is based on Figure 4A Three perspective side views of an example robotic end effector of the same example embodiment are shown with fingers in different positions in an example multi-suction mode.

[0021] FIG. 4I to FIG. 4J Is based on Figure 4A Two stereo side views of the same example embodiment shown in , of an example robotic end effector in an example pinch-suck mode (with and without grasping an object).

[0022] Figure 4K Is based on Figure 4AA perspective view of an example robotic end effector of the same example embodiment shown in an example expand-and-suction mode. DETAILED DESCRIPTION

[0023] As used herein and in the claims, the terms "comprising" (or any related forms, such as "comprise" and "comprises"), "including" (or any related forms, such as "include" or "includes"), "containing" (or any related forms, such as "contain" or "contains"), or "having" (or any related forms, such as "have" or "has") mean the inclusion of the following elements but not the exclusion of other elements. It should be understood that, for each embodiment in which the terms "comprising" (or any related forms, such as "comprise" and "comprises"), "including" (or any related forms, such as "include" or "includes"), "containing" (or any related forms, such as "contain" or "contains"), or "having" (or any related forms, such as "have" or "has") are used, the present disclosure / application also includes alternative embodiments in which the terms "comprising", "including", "containing", or "having" are replaced with "consisting essentially of" or "consisting of. These alternative embodiments using "consisting of" or "consisting essentially of are understood to be narrower embodiments of the "comprising", "including" or "containing" embodiments.

[0024] For clarity, “comprising,” “including,” “containing,” and “having,” and any related forms, are open-ended terms that allow for additional elements or features other than the specified essential elements, whereas “consisting of,” is a closed term that is limited to the elements recited in a claim and does not include any elements, steps, or ingredients not specified in a claim.

[0025] As used herein, the term "proximal" refers to the portion of the base of a finger that is closer to the palm, and the term "distal" refers to the portion of the base of a finger that is away from the palm.

[0026] As used herein, the term "rotatable" refers to having the ability to rotate, for example, having the ability to sequentially perform an action, function, or operation.

[0027] As used herein, the term "movable" means having the ability to move, such as having the ability to change position.

[0028] As used herein, the term "rim" refers to the outer edge or border of a part.

[0029] It should be understood that terms such as "top", "bottom", "middle", "side", "length", "inside", "outside", "inner", "outer", "outerside", "vertical", "horizontal", etc. that may be used herein are merely used to describe reference points and do not limit the present invention to any particular orientation or configuration.

[0030] As used herein, the term "robotic end effector" or "end effector" refers to a device that may be located at the end of a robotic arm to interact with the environment, such as grasping one or more objects.

[0031] As used herein, the term "robotic finger" or "finger" refers to a portion or finger of a robotic end effector that is used to perform grasping of one or more objects, typically in conjunction with one or more additional portions or fingers to perform grasping of one or more objects. In some embodiments, the robotic finger is a gripper for grasping.

[0032] As used herein, the term "palm" refers to a portion of a robotic end effector to operatively connect one or more robotic fingers to a robotic arm.

[0033] Although the description refers to specific embodiments, the disclosure should not be construed as being limited to the embodiments set forth herein.

[0034] Numbered Examples

[0035] 1. A robot end effector, the robot end effector comprising: Palms; and a plurality of robotic fingers operatively connected to the palm, each finger comprising: a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and Suction cup, wherein each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to be rotatable and / or movable relative to the palm, and Wherein, the suction cup is configured to be movable around a pivot of the distal portion.

[0036] 2. The robot end effector as described in Example 1, wherein the suction cup is connected to the distal part via a rotational joint.

[0037] 3. The robot end effector of any of the preceding embodiments, wherein the plurality of fingers are connected to the palm via one or more joints selected from the group consisting of prismatic joints, revolute joints, and hybrid joints.

[0038] 4. A robot end effector as described in any of the preceding embodiments, wherein each finger is configured to be able to slide along a transverse axis relative to the palm, so that each finger can move toward and away from each other.

[0039] 5. The robot end effector of embodiment 4, wherein the lateral axis is substantially perpendicular to the axial axis of the pivot.

[0040] 6. The robot end effector as described in any of the preceding embodiments, wherein each finger base further includes a clamping plate arranged at a longitudinal side of the finger base.

[0041] 7. The robotic end effector of any of the preceding embodiments, wherein the finger base is a rigid member. In one embodiment, the finger base is a gripper gripper.

[0042] 8. A robotic end effector as described in any of the preceding embodiments, wherein the plurality of fingers are equally spaced relative to a central longitudinal axis of the palm and are configured to be movable toward and away from at least one other finger.

[0043] 9. The robot end effector as described in any one of the preceding embodiments, wherein the palm further comprises a motor assembly; and at least one pinion rack assembly operatively connected to the plurality of fingers; Wherein, the motor assembly is configured to drive the pinion rack assembly to translate and / or rotate.

[0044] 10. The robot end effector of any one of the preceding embodiments, wherein each finger further comprises: Finger motor assembly; a belt drive assembly operatively connected to the finger motor assembly; a suction cup assembly operatively connecting the suction cup to the belt drive assembly; and a housing for supporting the finger motor assembly, the belt drive assembly, and the suction cup assembly; Wherein, the finger motor assembly is configured to drive the belt drive assembly so as to control the rotational movement of the suction cup through the suction cup assembly.

[0045] 11. The robot end effector of Example 6, wherein the clamp is attached to the housing via one or more springs and / or one or more retaining springs.

[0046] 12. A robot end effector for grasping an object, the robot end effector comprising: Palms; and a plurality of robotic fingers operatively connected to the palm to form a parallel-jaw gripper, each finger comprising: a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and a suction cup connected to the distal portion via a revolute joint, wherein the suction cup is configured to be movable about an axial axis of a pivot of the distal portion, wherein each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to be movable relative to the palm, and Wherein, each of the plurality of fingers is configured to be able to slide along a transverse axis that is substantially perpendicular to the axial axis of the pivot of the corresponding suction cup.

[0047] 13. A robot finger for a palm of a robot end effector, the robot finger comprising a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and Suction cup, wherein the finger base is configured to be rotatable and / or movable relative to the palm, and Wherein, the suction cup is configured to be movable around a pivot of the distal portion.

[0048] 14. The robotic finger of embodiment 13, wherein the suction cup is connected to the distal portion via a revolute joint.

[0049] 15. The robotic finger of any of the preceding embodiments, wherein the robotic finger is connected to the palm via one or more joints selected from the group consisting of a prismatic joint, a revolute joint, and a hybrid joint.

[0050] 16. The robotic finger of any preceding embodiment, wherein the finger base is configured to be able to slide along a transverse axis relative to the palm.

[0051] 17. The robotic finger of embodiment 16, wherein the lateral axis is substantially perpendicular to the axial axis of the pivot.

[0052] 18. The robot finger of any of the preceding embodiments, further comprising a clamping plate disposed at a longitudinal side of the finger base.

[0053] 19. The robotic finger of any one of the preceding embodiments, wherein the finger base is a rigid member. In one embodiment, the finger base is a gripper gripper.

[0054] 20. The robot finger according to embodiment 13, further comprising: Finger motor assembly; a belt drive assembly operatively connected to the finger motor assembly; a suction cup assembly operatively connected to the belt drive assembly; and a housing for accommodating the finger motor assembly, the belt drive assembly, and the suction cup assembly; Wherein, the finger motor assembly is configured to drive the belt drive assembly to control the rotational movement of the suction cup assembly. Example

[0055] This article provides an example of some embodiments of the present disclosure that are described in more detail. The example provided herein is for illustrative purposes only and is not intended to limit the scope of the present invention in any way. All references given below and elsewhere in this application are hereby included in this article by quoting.

[0056] Example 1

[0057] Robot End Effector 1000

[0058] Reference now Figure 1A , the present disclosure provides an example robotic end effector 1000 for grasping an object. The robotic end effector 1000 generally includes a palm 1200 and two fingers 1400A and 1400B operatively connected to the palm 1200. As an example, the fingers 1400A and 1400B are connected to the palm 1200 through one or more prismatic joints, revolute joints, or hybrid joints.

[0059] The palm 1200 generally includes a motor assembly 1210 and a pinion rack assembly 1220 that are operatively connected to each other. For ease of description, the direction toward the motor assembly 1210 is referred to as the top, and the direction away from the motor assembly is referred to as the bottom. The motor assembly 1210 further includes a motor mounting frame 1212, a motor 1211 mounted on the top of the motor mounting frame 1212, and a spur gear 1214 connected to an output shaft (not shown) of the motor 1211 via a set screw (not shown). The pinion rack assembly 1220 further includes a front rack 1221A that are operatively connected to each other, a front rack fixing plate 1223A, two linear slide tables 1224A and 1224B, a slide rail mounting frame 1225, and a linear slide rail 1226. Although in Figure 1A Although not clearly shown in the figure, it should be understood that the pinion rack assembly 1220 further includes a rear rack and a rear rack fixing plate for the finger 1400B located on the opposite rear side of the motor mounting frame 1212 (which are similar in structure to the front rack 1221A and the front rack fixing plate 1223A, respectively). One end of the rack fixing plate 1223A is connected to the rack 1221A by screws, and the other end is connected to the linear slide table 1224A by screws. The linear slide tables 1224A and 1224B are fixed to the slide mounting frame 1225 by the linear slide 1226, and the slide mounting frame 1225 is fastened to the motor mounting frame 1212 by screws. The linear slide table 1224A is fixed to the slide mounting frame 1225 by the linear slide 1226, and the slide mounting frame 1225 is fastened to the motor mounting frame 1212 by screws. Optionally, the palm 1200 further includes a palm housing.

[0060] Finger 1400A generally includes a finger base 1410A and a suction cup 1421A. Finger base 1410A is a rigid jaw member having a proximal portion 1411A operatively connected to palm 1200, and an opposite distal portion 1412A facing away from palm 1200. Suction cup 1421A is operatively connected to the distal portion of finger base 1412A. Suction cup 1421A is controllably movable about a pivot and can provide suction to an object. In this example, the structure of finger 1400B is similar to 1400A and will not be repeated for the sake of brevity. Fingers 1400A and 1400B are connected to linear slide tables 1224A and 1224B, respectively.

[0061] The spur gear 1214 is driven by the motor 1211, and the driving force is transmitted to the rack through gear meshing. If the rack receives an engagement force, the rack will be displaced in the horizontal direction, thereby moving the fingers 1400A and 1400B. In this way, in response to (multiple) command signals, the driving force generated by the motor 1211 is converted into a translational force to drive the two fingers 1440A and 1440B to move toward and away from each other along the transverse axis x at the linear slide 1226, so that the fingers 1400A and 1400B can be used as parallel gripper grippers to grasp or release objects. Additionally or alternatively, the fingers 1400A and 1400B can controllably provide (multiple) suction forces through one or both of the suction cups 1421A and 1421B. The structure and mechanism of the fingers (which are generally numbered 1400) will be described in the following sections and Figure 1B Described in more detail in .

[0062] Finger 1400

[0063] Reference now Figure 1B , which shows an exploded schematic diagram of a modular finger 1400. The finger 1400 generally includes a finger base 1410 and a suction cup 1421. The finger base 1410 is a rigid jaw member having a proximal portion 1411 operatively connected to the palm and an opposite distal portion 1412 facing away from the palm. The suction cup 1421A is operatively connected to the distal portion of the finger base 1412. The finger base 1410 further includes a housing 1450, a finger motor assembly 1440, a belt drive assembly 1430, and a suction cup assembly 1420 including the suction cup 1421. The finger motor assembly 1440, the belt drive assembly 1430, and the suction cup assembly 1420 are operatively connected to each other.

[0064] The housing 1450 generally includes a first side plate 1451, a finger motor plate 1452, a fixed plate 1454, and a second side plate 1457, which are fixedly connected to each other by screws to form a support for the finger motor assembly 1440 to attach to and form a support and housing for at least a portion of the belt drive assembly 1430 and the suction cup assembly 1420. The first side plate 1451 provides support for the belt drive assembly 1430. The fixed plate 1454 is generally an L-shaped plate, which includes a horizontal top portion 1455A for fixed attachment to the linear slide table of the palm and a vertical side 1455B forming the longitudinal side of the base of the finger. The vertical side 1455B further includes a clamping plate 1459, which includes a plurality of continuous corrugations to increase the surface area for gripping. Each of the second side plate 1457 and the vertical side 1455B of the fixed plate 1454 includes a distal channel to allow the shaft suction cup rod to rotate and extend therethrough. The fixing plate 1454 is designed to have a positioning structure, which is assembled with the first side plate 1451 and the finger motor plate 1452 by screws, and the clamping plate 1459 is assembled with the fixing plate 1454 by one or more springs and / or one or more retaining springs to ensure a certain degree of flexibility.

[0065] The finger motor assembly 1440 includes a finger motor 1441, an output shaft (not shown), a drive shaft 1445, and a flange plate 1446. The finger motor 1441 is mounted on the outer surface of the finger motor plate 1452 by screws, and the output shaft of the finger motor 1441 is connected to the drive shaft 1445 through the opening 1444 on the finger motor plate 1452 through the flange plate 1446.

[0066] The belt drive assembly 1430 generally includes a proximal synchronous pulley 1431, a synchronous belt 1433, and a distal synchronous pulley 1432 mounted on the inner surface of the first side plate 1451. The proximal synchronous pulley 1431 is fixed to the drive shaft 1445 by a set screw. The distal synchronous pulley 1432 is fixed to the suction cup shaft 1422 by a machine screw (or called a set screw). The proximal synchronous pulley 1431 and the distal synchronous pulley 1432 are operatively and synchronously connected by the synchronous belt 1433. The roller bearings of the proximal synchronous pulley 1431 and the roller bearings of the distal synchronous pulley 1432 are respectively assembled with the drive shaft 1445 and the suction cup shaft 1422.

[0067] The suction cup assembly 1420 includes a suction cup 1421, a suction cup shaft and an axis suction cup buffer rod 1423. The suction cup shaft has a pivot having an axial axis y. The suction cup 1421 is connected to the suction cup shaft 1422 through the axis suction cup rod 1423 and can move around the pivot.

[0068] At the same time, the driving force generated by the finger motor 1441 is transmitted to the drive shaft 1445 through the flange plate 1446. Through the belt drive assembly 1430, the driving force from the flange plate 1446 becomes a synchronous belt drive motion, which causes the suction cup shaft 1422 to rotate in the same direction as the belt drive assembly 1430, and drives the shaft suction cup buffer rod 1423 and the part on the suction cup 1421, so that the suction cup 1421 can be controlled to rotate to a certain position. The shaft suction cup buffer rod 1423 and the suction cup shaft 1422 form a revolving joint that allows the suction cup 1421 to rotate and move to a certain extent around the axial axis of the pivot of the suction cup shaft 1422. The suction cup 1421 is optionally connected to a suction source or a vacuum source that provides suction to the suction cup 1421.

[0069] Forward kinematics and inverse kinematics of the robot end effector 1000'

[0070] The robotic end effector described herein incorporates multiple degrees of freedom, which enables excellent dexterity and versatility. To control the robotic end effector, the forward kinematics and inverse kinematics of the example robotic end effector 1000' are derived as follows.

[0071] Reference now Figure 1C , in order to calculate the position C1(x C1 , z C1 )、C2(x C2 , z C2 )、S1(x S1 , z S1 ) and S2(x S2 , z S2 ), derive the forward kinematics of the robot end effector 1000'. ,as well as Reference now Figure 1D An inverse kinematics model has been derived in order to calculate the variable joint parameters q, β1 and β2 required to place the tips of the two suction cups at given positions, namely C1(x1,z1) and C2(x2,z2), and orientations, namely θ1 and θ2, relative to a common coordinate system. ,in In different working modes, the robot end effector 1000' exhibits different grasping functions. These grasping functions allow the end effector to grasp different objects. In the single suction mode, the end effector exhibits the grasping function of a single suction cup, while in the multi-suction mode, the end effector can exhibit the grasping function of a suction cup array or multiple vacuum-based end effectors, depending on the configuration of the fingertip suction cups. In the parallel grasping mode, the two robot fingers are actuated by motors through a pinion rack mechanism to perform the opening and closing of the fingers. The actuation force F on the pinion r The rated torque T of the motor m The radius d of the indexing ring of the pinion is determined by the following formula: , where M is the module of the pinion and Z is the number of teeth of the pinion. Taking into account the efficiency of the rack and pinion, the effective force on the pinion is F′ r =E r F r (14) When holding an object with two fingers in parallel grip mode, the upper limit of the object weight is For the prototype, the selected parameters are summarized in Table 1 and the resulting maximum load was 12.4 kg and the specified load was 8.3 kg. Table 1 Design parameters of the prototype parameter value M 1mm Z 20 <![CDATA[T m ]]> 20kg cm <![CDATA[E r ]]> 97％ μ 0.64

[0072] Example 2

[0073] Reference now Figure 2 , another example robot end effector 2000 is shown. The robot end effector 2000 is similar in structure to the robot end effector 1000 described in Example 1, but the robot end effector 2000 has three robot fingers 2400A, 2400B and 2400C connected to the palm 2200. The fingers 2400A, 2400B and 2400C are spaced substantially equidistantly relative to the central longitudinal axis of the palm and are configured to be movable toward and away from each other. The splints are configured to face the central longitudinal axis. Each of the robot fingers includes a corresponding suction cup 2421A, 2421B and 2421C, and the suction cups can move around their respective pivots and work independently or collaboratively.

[0074] Example 3

[0075] Reference now Figure 3, another example robot end effector 3000 is shown. The robot end effector 3000 is similar in structure to the robot end effector 1000 described in Example 1, but the robot end effector 3000 has four robot fingers 3400A, 3400B, 3400C, and 3400D connected to the rounded rectangular palm 3200. In this example, the fingers 3400A, 3400B, 3400C, and 3400D are connected to two pinion rack assemblies (a first pinion rack assembly and a second pinion rack assembly) and are arranged as two pairs of gripper grippers. The fingers 3400A and 3400D are connected to the first pinion rack assembly so that they can move toward and away from each other along the first linear slide 3226A along the first transverse axis, and the fingers 3400B and 3400C are connected to the second pinion rack assembly so that they can move toward and away from each other along the second linear slide 3226B along the second transverse axis. The first transverse axis and the second transverse axis are substantially parallel to each other. The splint of finger 3400A faces the splint of finger 3400D, and the splint of finger 3400B faces the splint of finger 3400C. The robot fingers 3400A, 3400B, 3400C and 3400D include corresponding suction cups 3421A, 3421B, 3421C and 3421D, and the suction cups can rotate about their respective pivots and work independently or collaboratively.

[0076] Example 4

[0077] Reference now Figures 4A to 4K As an example, the example robot end effector 4000 including two fingers and a palm can operate in at least the following multiple grasping modes:

[0078] 1. Parallel grip mode

[0079] like FIG. 4A to FIG. 4D As shown, the robot finger is used as a parallel-jaw gripper. Figure 4A The arrows in the figure show the degree of rotation of the suction cup, and Figure 4B The arrows in the figure show the translational motion range of the two fingers. The two fingers open and close synchronously to perform an opposing grasp. In this grasping mode, the robot finger can effectively grasp one or more objects with non-suctionable surfaces. Figure 4C and Figure 4D As shown, the two suction cups are retracted to avoid potential collisions between the environment and the suction cups.

[0080] 2. Single suction mode

[0081] like Figure 4EAs shown, in single suction mode, either of the robot fingers can act as a suction cup gripper. Only one of the two suction cups is active, while the other can be retracted. This gripping mode is designed for small and light objects whose surfaces can form a vacuum seal. In this mode, the configuration of the robot end effector remains unchanged. In other words, the opening width between the fingers can be fixed.

[0082] 3.Multi-suction mode

[0083] like FIG. 4F to FIG. 4H As shown, in multi-suction mode, both (all) suction cups are active. This mode is designed for larger and heavier objects whose surfaces can form a vacuum seal. Unlike single-suction mode, multi-suction mode allows the configuration of the robot end effector to be changed. In other words, the opening width between the fingers can be changed and adjusted to suit the different sizes and shapes of objects.

[0084] 4. Pinch-suck mode

[0085] like Fig. 4I and Figure 4J As shown in Figure 1, in the pinch-suck mode, the opening width between the fingers and the orientation of the two suction cups can be varied and adjusted according to the specific size and shape of the object. This gripping mode is designed for objects with a generally conical shape, a tetrahedral shape, or other more complex irregular shapes. After setting the orientation of the suction cups, the two fingers can be brought closer to each other until contact is made with the surface of the object.

[0086] 5. Open-Suction Mode

[0087] like Figure 4K As shown, the open-suck mode is designed for a set of manipulation tasks. One example is opening and holding a plastic bag so that a user or another robot can place an object or item into the open bag. These kinds of tasks are particularly useful for automated checkout and packaging of objects in e-commerce applications.

[0088] The exemplary embodiments of the present invention are thus fully described. Although the description refers to specific embodiments, it will be clear to those skilled in the art that the present invention can be implemented by changes in these specific details. Therefore, the present invention should not be interpreted as being limited to the embodiments set forth herein.

[0089] For example, in some embodiments, each of the robotic end effectors includes a single rectangular palm, but other numbers (e.g., two, three, four, five, six, seven, eight, nine, ten, or more), sizes (e.g., oversized), and shapes (oval, circular, triangular) may be used in various locations.

[0090] For example, in some embodiments, the robotic end effector includes two generally rectangular-shaped robotic fingers, but other numbers (e.g., three, four, five, six, seven, eight, nine, ten, or more), sizes (e.g., oversized), and shapes (cylindrical, conical, triangular prism, pentagonal prism) may be used at various locations.

[0091] For example, in some embodiments, the robotic fingers of the robotic end effector are structurally identical, but different types, sizes (e.g., oversized), and shapes (oval, rectangular, triangular) may be used at various locations.

[0092] For example, in some embodiments, each of the robotic fingers includes a round or disc-shaped tip of a suction cup, but other numbers (e.g., two, three, four, five, six, seven, eight, nine, ten, or more), sizes (e.g., oversized), and shapes (oval, rectangular, triangular) of tips and suction cups may be used at various locations.

[0093] For example, in some embodiments, the suction cup is moved by a belt drive motion of a belt drive assembly, but other forms of drive mechanisms (e.g., gear mechanisms, slider crank mechanisms) may be used.

[0094] For example, in some embodiments, the sliding motion of the robot finger is actuated by a rack and pinion action of a rack and pinion assembly, but other forms of linear or non-linear actuation mechanisms (e.g., belt-driven actuators, pneumatic actuators, etc.) may be used.

[0095] For example, in some embodiments, each of the plurality of fingers is configured to be movable along a transverse axis, but may be configured to be movable along a plurality of directions and axes as desired.

[0096] For example, in some embodiments, each of the plurality of fingers is configured to be movable relative to the palm, but may alternatively or additionally be configured to be rotatable to adjust a grip angle.

[0097] For example, in Figures 4A to 4K Example 4 shown in Figure 4 describes multiple grasping modes of an example robot end effector 4000 including two robot fingers, but it should be understood that other configurations (e.g., having different numbers of fingers (e.g., three, four, five, six, seven, eight, nine, ten, or more)) will also achieve at least the above-mentioned multiple grasping modes.

[0098] For example, the end effectors described herein may further include an imaging device or system (such as a camera) for recording, respectively detecting, the motion of the end effector.

Claims

1. A robot end effector, the robot end effector comprising: palm; as well as a plurality of robotic fingers operatively connected to the palm, each finger comprising: a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and Suction cup, wherein each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to be rotatable and / or movable relative to the palm, and Wherein, the suction cup is configured to be movable around a pivot of the distal portion.

2. The robot end effector according to claim 1, wherein: The suction cup is connected to the distal portion via a revolute joint.

3. A robot end effector as claimed in any one of the preceding claims, wherein: The plurality of fingers are connected to the palm via one or more joints selected from the group consisting of prismatic joints, revolute joints, and hybrid joints.

4. A robot end effector as claimed in any one of the preceding claims, wherein: Each finger is configured to be respectively slidable relative to the palm along a transverse axis such that each finger can move toward and away from each other.

5. The robot end effector according to claim 4, wherein: The transverse axis is substantially perpendicular to the axial axis of the pivot shaft.

6. A robot end effector as claimed in any one of the preceding claims, wherein: Each finger base further includes a splint disposed at a longitudinal side of the finger base.

7. A robot end effector as claimed in any one of the preceding claims, wherein: The finger base is a rigid member.

8. A robot end effector as claimed in any one of the preceding claims, wherein: The plurality of fingers are equally spaced relative to a central longitudinal axis of the palm and are configured to be movable toward and away from at least one other finger.

9. A robot end effector as claimed in any one of the preceding claims, wherein: The palm further comprises Motor assembly; as well as at least one pinion rack assembly operatively connected to the plurality of fingers; Wherein, the motor assembly is configured to drive the pinion rack assembly to translate and / or rotate.

10. A robot end effector as claimed in any one of the preceding claims, wherein: Each finger further includes: Finger motor assembly; a belt drive assembly operatively connected to the finger motor assembly; a suction cup assembly operatively connecting the suction cup to the belt drive assembly; and a housing for supporting the finger motor assembly, the belt drive assembly, and the suction cup assembly; Wherein, the finger motor assembly is configured to drive the belt drive assembly so as to control the rotational movement of the suction cup through the suction cup assembly.

11. The robot end effector according to claim 6, wherein: The clamp is attached to the housing by one or more springs and / or one or more circlips.

12. A robot end effector for grasping an object, the robot end effector comprising: palm; as well as a plurality of robotic fingers operatively connected to the palm to form a parallel-jaw gripper, each finger comprising: a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and a suction cup connected to the distal portion via a revolute joint, wherein the suction cup is configured to be movable about an axial axis of a pivot of the distal portion, wherein each of the plurality of fingers is operatively connected to the palm at the proximal portion and is configured to be movable relative to the palm, and Wherein, each of the plurality of fingers is configured to be able to slide along a transverse axis that is substantially perpendicular to the axial axis of the pivot of the corresponding suction cup.

13. A robot finger for a palm of a robot end effector, the robot finger comprising a finger base having a proximal portion operatively connected to the palm and an opposing distal portion; and Suction cup, in, The finger base is configured to be rotatable and / or movable relative to the palm, and Wherein, the suction cup is configured to be movable around a pivot of the distal portion.

14. The robot finger of claim 13, wherein: The suction cup is connected to the distal portion via a revolute joint.

15. A robotic finger as claimed in any preceding claim, wherein: The robotic fingers are connected to the palm via one or more joints selected from the group consisting of prismatic joints, revolute joints, and hybrid joints.

16. A robotic finger as claimed in any preceding claim, wherein: The finger base is configured to slide relative to the palm along a transverse axis.

17. The robot finger of claim 16, wherein: The transverse axis is substantially perpendicular to the axial axis of the pivot shaft.

18. The robot finger of any one of the preceding claims, further comprising a clamping plate provided at a longitudinal side of the finger base.

19. A robotic finger as claimed in any preceding claim, wherein: The finger base is a rigid member.

20. The robotic finger of claim 13, further comprising: Finger motor assembly; a belt drive assembly operatively connected to the finger motor assembly; a suction cup assembly operatively connected to the belt drive assembly; as well as a housing for accommodating the finger motor assembly, the belt drive assembly, and the suction cup assembly; Wherein, the finger motor assembly is configured to drive the belt drive assembly to control the rotational movement of the suction cup assembly.

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