Locking mechanism for rotatable fings

Abstract

A system includes a frame, an arm, a finger, and a locking mechanism. The arm is movable in first and second directions relative to the frame. The finger is rotatably coupled to the arm and is rotatable between an open position and a holding position. The locking mechanism is coupled to the finger and may be in unlocked and locked configurations. When the locking mechanism is in the unlocked configuration, the locking mechanism allows the finger to rotate between the open and holding positions, transitions from the unlocked configuration to the locked configuration in response to the finger rotating to the holding position, and holds the finger in the holding position when the locking mechanism is in the locked configuration, and transitions from the locked configuration to the unlocked configuration in response to movement of the arm in the second direction relative to the frame.

Description

Technical Field

[0001] The present disclosure pertains to the technical field of maintaining deformable objects, such as raw meat products. More particularly, the present disclosure relates to systems and methods for using a system including a locking mechanism to hold a raw meat product, such as a raw meat product lifted from a surface, the locking mechanism holding the fingers of an arm in a holding position and releasing the fingers from the holding position in response to outward movement of the arm. Background Art

[0002] It can be difficult to move a deformable object using an electromechanical tool. The deformable nature of the object makes it unsuitable for being firmly grasped by conventional tools such as pliers or other end-effectors on a robotic arm. These difficulties in grasping a deformable object reduce or eliminate the advantages of reliability and repeatability of the electromechanical tool.

[0003] When the deformable object is a raw meat product, such as a raw beef cube, the difficulty of moving the deformable object is even more complex. Raw meat products have a large size range and a wide weight range, making it difficult for a single tool to be able to properly move all types of raw meat products. The way and force of grasping the raw meat product can also damage the raw meat product. Additionally, any part of the tool that comes into contact with the raw meat product must be able to be properly cleaned to comply with food and safety regulations. This concern makes complex grasping tools challenging for grasping raw meat products. Summary of the Invention

[0004] This summary is provided to introduce some concepts that will be further described in the following detailed description in a simplified form. This summary is not intended to identify the key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0005] In a first embodiment, the system includes a frame and an arm that is movable relative to the frame in a first direction and a second direction opposite the first direction. The system also includes fingers that are rotatably coupled to the arm. The fingers are rotatable relative to the arm between an open position and a holding position. The system also includes a locking mechanism coupled to the fingers. The locking mechanism is configured to selectively be in an unlocked configuration and a locked configuration. The locking mechanism is configured to: allow the fingers to rotate between the open position and the holding position when the locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the fingers rotating to the holding position, hold the fingers in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the arm moving relative to the frame in the second direction.

[0006] In a second embodiment, the locking mechanism of the first embodiment is a passive locking mechanism.

[0007] In a third embodiment, the passive locking mechanism of the second embodiment includes a rod slidably coupled to the arm and a head rotatably coupled to the arm. The rod includes a distal end coupled to the finger and a proximal end configured to engage the head.

[0008] In a fourth embodiment, the head of the third embodiment includes a first surface and a second surface. The head and the rod are arranged such that when the locking mechanism is in the unlocked configuration, the proximal end of the rod is capable of contacting the first surface, and when the locking mechanism is in the locked configuration, the proximal end of the rod contacts the second surface.

[0009] In a fifth embodiment, the passive locking mechanism of the fourth embodiment includes a first biasing mechanism configured to bias the rod towards the head.

[0010] In a sixth embodiment, the passive locking mechanism of the fifth embodiment includes a second biasing mechanism configured to rotationally bias the head to the locked configuration, wherein the second surface is located above the proximal end of the rod.

[0011] In a seventh embodiment, the system of the sixth embodiment is configured such that the head includes a pawl, the frame includes a plurality of teeth, and when the locking mechanism is in the locked configuration and the arm is in a second direction relative to the frame, the pawl is positioned to engage one of the plurality of teeth to rotate the head against the force of the second biasing mechanism.

[0012] In an eighth embodiment, the spacing between each of the plurality of teeth of the seventh embodiment is less than or equal to 0.75 inches (1.91 cm).

[0013] In a ninth embodiment, the pawl of any of the seventh to eighth embodiments is rotationally biased relative to the body of the head.

[0014] In a tenth embodiment, the locking mechanism of the first embodiment is an active locking mechanism.

[0015] In an eleventh embodiment, the active locking mechanism of the tenth embodiment includes a controller configured to control the transition of the locking mechanism from the unlocked configuration to the locked configuration in response to the finger rotating to the holding position, and to control the transition of the locking mechanism from the locked configuration to the unlocked configuration in response to the arm moving in a second direction relative to the frame.

[0016] In a twelfth embodiment, the active locking mechanism of the eleventh embodiment further includes one or more sensors configured to detect the rotation of the finger to the holding position and / or the movement of the arm in a second direction relative to the frame.

[0017] In a thirteenth embodiment, the system includes a frame and a first pair of opposing arms. The first pair of opposing arms includes a first arm and a second arm. Each of the first arm and the second arm is movable relative to the frame in an inward direction toward the other of the first arm and the second arm and in an outward direction away from the other of the first arm and the second arm. The system also includes a first finger rotatably coupled to the first arm and a second finger rotatably coupled to the second arm. Each of the first and second fingers is rotatable between an open position and a holding position. The system also includes a first locking mechanism coupled to the first finger and a second locking mechanism coupled to the second finger. Each of the first and second locking mechanisms is configured to selectively be in an unlocked configuration and a locked configuration. The first locking mechanism is configured to: allow the first finger to rotate between the open position and the holding position when the first locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the first finger rotating to the holding position, hold the first finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the first arm moving relative to the frame in the outward direction. The second locking mechanism is configured to: allow the second finger to rotate between the open position and the holding position when the second locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the second finger rotating to the holding position, hold the second finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the second arm moving relative to the frame in the outward direction.

[0018] In a fourteenth embodiment, the first arm and the second arm of the thirteenth embodiment are biased away from each other.

[0019] In a fifteenth embodiment, the frame of the fourteenth embodiment is configured to apply a force on the first arm and the second arm to move the first arm and the second arm inward relative to the frame against the biasing force.

[0020] In a sixteenth embodiment, each of the first and second locking mechanisms of any of the thirteenth through fifteenth embodiments is a passive locking mechanism that includes a rod slidably coupled to one of the first arm and the second arm and a head rotatably coupled to the one of the first arm and the second arm. The rod includes a distal end coupled to the finger and a proximal end configured to engage the head. The head includes a pawl. The frame includes a plurality of teeth. When the locking mechanism is in the locked configuration and the arm is in a second direction relative to the frame, the pawl is positioned to engage one of the plurality of teeth to rotate the head.

[0021] In the seventeenth embodiment, the system of any one of the thirteenth to sixteenth embodiments further includes a second pair of opposing arms. The second pair of opposing arms includes a third arm and a fourth arm. Each of the third arm and the fourth arm is movable relative to the frame in an inward direction toward the other of the third arm and the fourth arm and in an outward direction away from the other of the third arm and the fourth arm. The system further includes a third finger rotatably coupled to the third arm and a fourth finger rotatably coupled to the fourth arm, wherein each of the third and fourth fingers is rotatable between an open position and a holding position. The system further includes a third locking mechanism coupled to the third finger and a fourth locking mechanism coupled to the fourth finger, wherein each of the third and fourth locking mechanisms is configured to be selectively in an unlocked configuration and a locked configuration. The third locking mechanism is configured to: allow the third finger to rotate between the open position and the holding position when the third locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the third finger rotating to the holding position, hold the third finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the third arm moving relative to the frame in the outward direction. The fourth locking mechanism is configured to: allow the fourth finger to rotate between the open position and the holding position when the fourth locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the fourth finger rotating to the holding position, hold the fourth finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the fourth arm moving relative to the frame in the outward direction.

[0022] In the eighteenth embodiment, the first pair of opposing arms of the seventeenth embodiment is movable inwardly and outwardly independently of the inward and outward movement of the second pair of opposing arms.

[0023] In the nineteenth embodiment, the system of any one of the seventeenth to eighteenth embodiments further includes a third pair of opposing arms. The third pair of opposing arms includes a fifth arm and a sixth arm, and wherein each of the fifth arm and the sixth arm is movable relative to the frame in an inward direction toward the other of the fifth arm and the sixth arm and in an outward direction away from the other of the fifth arm and the sixth arm. The system further includes a fifth finger rotatably coupled to the fifth arm and a sixth finger rotatably coupled to the sixth arm. Each of the fifth and sixth fingers can rotate between an open position and a holding position. The system further includes a fifth locking mechanism coupled to the fifth finger and a sixth locking mechanism coupled to the sixth finger. Each of the fifth and sixth locking mechanisms is configured to selectively be in an unlocked configuration and a locked configuration. The fifth locking mechanism is configured to: allow the fifth finger to rotate between the open position and the holding position when the fifth locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the fifth finger rotating to the holding position, hold the fifth finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the fifth arm moving relative to the frame in the outward direction. The sixth locking mechanism is configured to: allow the sixth finger to rotate between the open position and the holding position when the sixth locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the sixth finger rotating to the holding position, hold the sixth finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the sixth arm moving relative to the frame in the outward direction.

[0024] In the twentieth embodiment, each of the first pair of opposing arms, the second pair of opposing arms, and the third pair of opposing arms of the nineteenth embodiment can move inwardly and outwardly independently of the others of the first pair of opposing arms, the second pair of opposing arms, and the third pair of opposing arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The foregoing aspects of the disclosed subject matter, and many of the attendant advantages thereof, will become more readily appreciated, and better understood, when considered in conjunction with the accompanying drawings, in which:

[0026] Figures 1A to 1E An embodiment of a system 100 for grasping an object is depicted;

[0027] Figures 2A to 2C Depicts Figures 1A to 1E a series of instances in which the system shown in

[0028] Figure 3A and 3B Depicts a partial side view of a system according to an embodiment described herein that overcomes Figures 2A to 2CThe unintentional dropping problem shown in;

[0029] Figures 4A to 4F Depicts an example of a method of using the system shown in and described herein to move a deformable object; Figure 3A and 3B An example of a method of using the system shown to move a deformable object;

[0030] Figures 5A to 5F Depicts an embodiment of a system including a passive locking mechanism and an example of the operation of the passive locking mechanism according to the embodiments described herein;

[0031] Figures 6A to 14B Depicts an embodiment of a system that can be used to lift a deformable object from a surface according to the embodiments described herein and a method of using the system to lift a deformable object from a surface;

[0032] Figures 15A to 15D Depicts the use of Figure 3A and 3B Another example of an embodiment of a method of using the system shown to move a deformable object;

[0033] Figures 16A to 16D Depicts according to the embodiments described herein Figures 5A to 5F Another example of an embodiment of the operation of the passive locking mechanism shown;

[0034] Figures 17A to 17E Depicts according to the embodiments described herein Figures 5A to 5F An example of an embodiment of the rotational movement of the pawl relative to the body in the locking mechanism depicted in;

[0035] Figure 18 Depicts an example embodiment of a system that can be used to implement some or all of the embodiments described herein; and

[0036] Figure 19 Depicts a block diagram of an embodiment of a computing device according to the embodiments described herein. Detailed Description

[0037] The present disclosure describes an embodiment of a locking mechanism that is configured to hold the fingers of an arm in a holding system in a holding position and release the fingers from the holding position in response to an outward movement of the arm. This type of locking device allows for the simple and effective holding and releasing of an object by the fingers.

[0038] Figure 1A and 1BDepicts an embodiment of a system 100 for grasping an object. In some embodiments, the system 100 can be coupled as an end - effector to the end of a robotic arm. The system 100 includes a frame 102. The frame 102 can include any type of structure that holds the other elements of the system 100. In some embodiments, the top of the frame 102 is configured to be coupled to the end of the robotic arm, and the robotic arm is configured to move the system 100 to pick up, move, and release an object.

[0039] The system 100 also includes an arm 104 coupled to the frame 102. In the illustrated example, the arm 104 includes a pair of arms centered on the center of the frame 102. In some embodiments, the frame 102 includes a drive mechanism configured to move the arm 104, such as a motor, solenoid, pneumatic actuator, hydraulic actuator, etc. In some embodiments, the drive mechanism is configured to move the arm 104 such that the arm 104 remains centered on the frame 102. For example, the drive mechanism is configured to move the two arms 104 together towards the center of the frame 102 or together away from the center of the frame 102.

[0040] The system 100 also includes fingers 106. In some embodiments, each arm 104 is rotatably coupled to one of the fingers 106. In the depicted embodiment, the fingers 106 are configured to passively rotate (i.e., in response to a force applied to the fingers 106) within a range of rotation from the Figure 1A position shown to the Figure 1E position shown. The fingers 106 are configured to hold an object, as discussed in more detail below. In the Figure 1A instance shown, gravity is the only force acting on the fingers 106, and the fingers 106 rotate by gravity to the Figure 1A position shown. In the depicted embodiment, each finger 106 includes a first surface 108 and a second surface 110. As discussed in more detail below, the first and second surfaces 108 and 110 are configured to contact and hold an object.

[0041] Figure 1A Also depicted is a surface 112 and an object 114 located on the surface 112. In some embodiments, the surface is a static surface (e.g., a tabletop, a shelf, etc.) or a dynamic surface (e.g., a conveyor belt, a set of rollers, etc.). Figures 1A to 1E Each of the [figures] depicts an example of an embodiment of a method of the system 100 for lifting a deformable object 114 from the surface 112. In Figure 1A [Figure], the arm 104 withdraws from the side of the deformable object 114, and the fingers 106 are biased towards a lower rotational position. In Figure 1AIn the illustrated example, neither of the fingers 106 is in contact with the surface 112. If either or both of the fingers 106 had been in contact with the surface 112, the fingers 106 could rotate. If the surface 112 is uneven (e.g., not level), is a compliant material (e.g., a rubber conveyor belt), or other similar non-rigid and / or non-level surface, the ability of the fingers 106 to rotate in response to contact with the surface 112 is particularly helpful. This ability of the fingers 106 to rotate in response to contact with the surface 112 also ensures that the ends of the fingers 106 can remain in contact with the surface and slide under the deformable object 114. In Figure 1B the arm 104 has moved inward relative to the frame 102 until the inclined surfaces 108 have contacted the right and left sides of the deformable object 114. In some embodiments, the system 100 includes a drive mechanism, such as a fluid power actuator operatively coupled in parallel via a fluid power system to each pair of opposing arms 104, and the arms 104 move inward by increasing the pressure in the fluid power system by the fluid power actuator. Although not shown in Figures 1A to 1E each pair of opposing arms in the system 100 can be operatively coupled in parallel to a fluid power actuator such that each pair of arms can close different distances until the inclined surfaces 108 are all in contact with the sides of the deformable object 114.

[0042] From Figure 1B the illustrated example to Figure 1C the illustrated example, the drive mechanism has increased the force on the arms 104 inwardly toward the deformable object 114. Because in Figure 1B the illustrated example all of the inclined surfaces 108 are in contact with the deformable object 114, the increase in force in the Figure 1C illustrated example causes the arms 104 to apply a compressive force on the deformable object 114. The compressive force applied by the arms 104 on the deformable object 114 causes the deformable object 114 to slide upward along the inclined surfaces 108 and lift the deformable object 114 off the surface 112. In Figure 1C the illustrated example, the deformable object 114 has not yet contacted the lateral contact surfaces 110 of the fingers 106.

[0043] From Figure 1C the illustrated example to Figure 1D the illustrated example, the drive mechanism has increased the force on the arms 104 in the inward direction. The increased force on the arms 114 has caused the sides of the deformable object 114 to contact the lateral contact surfaces 110 of the fingers 106, which causes the deformable object 114 to apply a force on the lateral contact surfaces 110. The force from the deformable object 114 on the lateral contact surfaces 110 has caused the fingers 106 to begin to rotate in the reverse direction until the fingers 106 are in Figure 1DThe rotational position shown. Reverse rotation of the finger 106 causes the inclined surface 108 to rotate upward and further lift the deformable object 114 off the surface 112.

[0044] From Figure 1D the instance shown to Figure 1E the instance shown, the drive mechanism has increased the force on the arm 104 in the inward direction. The increased force on the arm 114 has caused the side of the deformable object 114 to continue to apply a force on the lateral contact surface 110 of the finger 106. The deformable object 114 applying a force on the lateral contact surface 110 has caused the finger 106 to continue to rotate in the reverse direction until the finger 106 is in Figure 1E the higher rotational position shown. The reverse rotation of the finger 106 has caused the inclined surface 108 to rotate upward and further lift the deformable object 114 off the surface 112. In some embodiments, the finger 106 is prevented from rotating in the reverse direction beyond this higher rotational position due to physical interference with the arm 104.

[0045] When the drive mechanism continues to apply a force on the arm 104, the arm 104 continues to apply a force on the deformable object 114. This force from the arm 104 towards the deformable object 114 causes the deformable object 114 to in turn apply a reaction force on the lateral surface 110 of the finger 106. This interaction force from the deformable object 114 keeps the finger 106 in Figure 1E the higher rotational position shown, such that the finger 106 continues to hold the deformable object 114. In this way, the system 100 can hold the deformable object 114 when the system is moving (e.g., by a robotic arm).

[0046] Although the system 100 can be an effective tool for holding the deformable object 114, in some cases, the system 100 may also accidentally drop the deformable object 114. One such instance is depicted in Figures 2A to 2C the series of events shown. In Figure 2A , the deformable object 114 has started to deform from the shape it had in Figure 1E . In particular, the bottom of the deformable object 114 has started to sag, which causes the side of the deformable object to retract from the lateral surface 110 of the finger 106. This deformation of the deformable object 114 is possible for certain types of deformable objects, such as raw, boneless meat chunks. In the depicted embodiment, when the deformable object 114 deforms, the arms 104 do not move closer to each other inwardly. This can occur in some situations, such as when the arms 104 are already in a more inward position within their travel range relative to the frame 102, the drive mechanism does not have a fast enough reaction to push the arms 104 inward to maintain contact with the deformed deformable object 114, or other similar situations.

[0047] Figure 2B Depicts that after the side of the deformable object 114 loses contact with the lateral surface 110 of the finger member 106 and there is not enough reaction force on the lateral contact surface 110 to overcome the moment about the pivot of the finger member 106 caused by the weight of the deformable object 114 on the first surface 108, the finger member 106 freely rotates downward in the reverse direction. As the finger member 106 rotates downward in the reverse direction, the deformable object 114 can continue to deform. In the depicted embodiment, as the side of the deformable object 114 has moved inward, the bottom of the deformable object 114 moves downward. This deformation of the deformable object 114 and the downward reverse rotation of the finger member 106 have allowed the deformable object 114 to start falling downward. The weight of the deformable object 114 also exerts a force on the first surface 108 of the finger member 106, which increases the rate at which the finger member rotates downward in the reverse direction and allows the deformable object 114 to fall.

[0048] Figure 2C Depicts after Figure 2B the instance shown, where the deformable object 114 has fallen to the point where it no longer contacts the finger member 106 and the deformable object 114 falls freely. The finger member 106 has rotated in the reverse direction to the point where the first surface 108 no longer contacts the deformable object 114. In some embodiments, the rotational position of the finger member 106 is the lowest position to which the finger member 106 can rotate. At Figure 2C the depicted point, the system 100 has accidentally caused the deformable object 114 to fall without any movement of the arm 104 relative to the frame 102 and / or any outward movement of the arms 104 away from each other.

[0049] There are other situations where the system 100 may accidentally cause the deformable object 114 to fall. For example, if the deformable object 114 has very low rigidity (e.g., in the case of raw, boneless meat), the reaction force of the deformable object 114 on the lateral contact surface 110 may not be sufficient to overcome the weight of the deformable object 114 to rotate the finger member 106 outward. Similarly, if the deformable object 114 is very thin, the reaction force of the deformable object 114 on the lateral contact surface 110 may not be sufficient to overcome the weight of the deformable object 114 to rotate the finger member 106 outward. In either case, the force on the lateral contact surface 110 may not be sufficient to keep the first surface 108 in a position as close to horizontal as possible, which may cause the system 100 to accidentally cause the deformable object 114 to fall.

[0050] Figure 3A and 3B Depicts a partial side view of the system 200, which overcomes Figures 2A to 2CThe accidental drop problem shown in. The system 200 includes a frame 202, an arm 204 movably coupled to the frame 202, and a finger 206 rotatably coupled to the distal end of the arm 204. In Figure 3A In, the finger 206 rotates downward to the open position. In Figure 3B In, the finger 206 rotates upward to the holding position.

[0051] The system 200 also includes a locking mechanism 260. In the depicted embodiment, the locking mechanism 260 is coupled to both the arm 204 and the finger 206. In the depicted embodiment, the locking mechanism 260 includes a housing 262 fixedly coupled to the arm 204, a rod 264 slidably coupled to the housing 262 and rotatably coupled to the finger 206, and a locking device 266 within the housing 262.

[0052] The locking mechanism 260 is configured to selectively be in an unlocked configuration and a locked configuration. In the depicted example, the locking mechanism 260 is in the unlocked configuration in Figure 3A and the locking mechanism 260 is in the locked configuration in Figure 3B . When the locking mechanism 260 is in the unlocked configuration, the locking mechanism 260 is configured to allow the finger 206 to rotate between the open position in Figure 3A and the holding position in Figure 3B . The locking mechanism 260 is configured to transition from the unlocked configuration to the locked configuration in response to the finger 206 rotating to the holding position. In the depicted embodiment, Figure 3A the upward rotation of the finger 206 in causes the rod 264 to slide downward until the locking device 266 engages the top of the rod 264 in Figure 3B . In the locked configuration shown in Figure 3B , the locking mechanism 260 is configured to hold the finger 206 in the holding position.

[0053] In the case where the locking mechanism 260 holds the finger 206 in the locked configuration, the finger 206 can hold the deformable object without the risk of accidental rotation of the finger 206. Thus, the locking mechanism 260 reduces the risk of the system 200 accidentally dropping the deformable object. Figures 4A to 4F Six examples of a method of using the system 200 to move a deformable object are depicted.

[0054] Figure 4A A first example of a method of using the system 200 is depicted. In particular, Figure 4A the system 200, a surface 212, and a deformable object 214 on the surface are depicted. The surface 212 and the deformable object 214 can be any type of surface and deformable object, including those embodiments of the surfaces and deformable objects described herein. In Figure 4AIn [the situation], the finger 206 is in the open position. One end of the finger 206 is in contact with the surface 212. The finger 206 is also spaced apart from the deformable object 214.

[0055] From Figure 4A the first example shown to Figure 4B the second example shown, the arm 204 has moved relative to the frame 202 towards the deformable object 214 until the finger 206 has made contact with the deformable object 214. The finger 206 remains in the open position. The locking mechanism 260 remains in the unlocked configuration and allows the finger 206 to rotate between the open configuration and the holding configuration. It will be apparent that the embodiment of the system 200 only shows a part of the system 200 and the deformable object 214, and the system may include another arm and finger on the other side of the deformable object 214, which operate similarly to the arm 204 and the finger 206.

[0056] From Figure 4B the second example shown to Figure 4C the third example shown, the arm 204 has moved further relative to the frame 202 towards the deformable object 214. The movement of the arm 204 has caused the deformable object 214 to apply a force on the lateral surface of the finger 206 to cause the finger 206 to rotate upward. The upward rotation of the finger 206 causes the finger 206 to lift the deformable object 214 off the surface 212. In Figure 4C [the situation], the finger 206 has rotated until the finger 206 has reached the holding position. The locking mechanism 260 is configured to transition from the unlocked configuration to the locked configuration in response to the finger 206 rotating to the holding position. Thus, in Figure 4C [the situation], the locking mechanism is in the locked configuration because the finger 206 has rotated to the holding position. When the locking mechanism 260 is in the locked configuration, the locking mechanism 260 holds the finger 206 in the holding position. This holding of the finger 206 in the holding position by the locking mechanism 260 reduces the likelihood of the finger 206 accidentally dropping the deformable object 214.

[0057] From Figure 4C the third example shown to Figure 4D the fourth example shown, the system 200 has been moved away from the surface 212. During the movement of the system 200 to Figure 4D the position shown, the finger 206 is in the holding position at least in part because the locking mechanism 260 holds the finger 206 in the holding position. During the movement of the system 200 from Figure 4C the third example shown to Figure 4DDuring the fourth instance shown, the arm 204 does not move relative to the frame 202. As will be apparent, the system 200 may include another arm, fingers, and a locking mechanism on the other side of the deformable object 214, which will help to hold the deformable object 214 in the Figure 4D invisible side.

[0058] In some embodiments, under Figure 4D the fourth instance shown, the position of the system 200 is the position where the system 200 will place the deformable object 214. Under Figure 4D the fourth instance shown and Figure 4E between the fifth instance shown, the arm 204 has started to move relative to the frame 202 in a direction away from the deformable object 214. The locking mechanism 260 is configured to transition from a locked configuration to an unlocked configuration in response to the movement of the arm 204 relative to the frame 202 in a direction away from the deformable object 214. Thus, when the arm 204 starts to move away from the deformable object 214 relative to the frame 202, the locking mechanism 260 transitions to the unlocked configuration and then allows the fingers 206 to rotate downward. Thus, under Figure 4E the fifth instance shown, the movement of the arm 204 away from the deformable object 214 causes both the fingers 206 to move away from the deformable object and the fingers to rotate downward. These two actions will start the process of allowing the deformable object 214 to be released from the system 200.

[0059] In Figure 4E the fifth instance shown and Figure 4FBetween the sixth instances shown, the arm 204 has continued to move relative to the frame 202 in a direction away from the deformable object 214. Additionally, due to gravity and / or the weight of the deformable object 214, the fingers 206 have been allowed to rotate downwardly towards the open position; the locking mechanism 260 has not prevented the fingers from rotating to the open position. The movement of the arm 204 away from the deformable object 214 and / or the downward rotation of the fingers 206 have allowed the deformable object 214 to fall from the system 200. In this manner, the movement of the arm 204 away from the deformable object 214 alone allows the deformable object 214 to fall away from the system 200. In some embodiments, the locking mechanism 260 is a passive locking mechanism as it is arranged to automatically transition from a locked configuration to an unlocked configuration in response to the movement of the arm 204 relative to the frame 202 away from the deformable object 214, without using a controller and / or an independent or dedicated actuator to control the locking mechanism 260 and / or a sensor to detect the movement of the arm 204 relative to the frame 202. In other embodiments, the locking mechanism 260 is an active locking mechanism that includes a controller that controls the transition of the locking mechanism 260 from the locked configuration to the unlocked configuration in response to the movement of the arm 204 relative to the frame 202 away from the deformable object 214. In some cases, the active locking mechanism may also include one or more sensors to detect the movement of the arm 204 relative to the frame 202 and indicate to the controller when the arm 204 has moved relative to the frame 202.

[0060] Figures 5A to 5F An embodiment of a system 300 is depicted that includes a passive locking mechanism 360 and an example of the operation of the passive locking mechanism 360. The system 300 includes a portion of a frame 302, an arm 304 that is movable relative to the frame 302, and fingers 306 that are rotatably coupled to the distal end of the arm 304. The system 300 also includes a locking mechanism 360 that can be selectively in an unlocked configuration and a locked configuration. As discussed in more detail below, the locking mechanism 360 is configured to allow the fingers 306 to rotate between an open position and a holding position when the locking mechanism 360 is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the fingers 306 rotating to the holding position, hold the fingers 306 in the holding position when the locking mechanism 360 is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the movement of the arm 304 relative to the frame 302 to the right (when observing the system 300). Figures 5A to 5F the system 300).

[0061] As described above, any of the locking mechanisms described herein can be a passive locking mechanism. In Figures 5A to 5FIn the specific embodiment shown, the locking mechanism 360 is a passive locking mechanism. Specific embodiments of the locking mechanism are described below. It will be apparent that in other embodiments, different embodiments of the passive locking mechanism may provide similar functionality. It will also be apparent that in other embodiments, an active locking mechanism may also provide similar functionality.

[0062] The locking mechanism 360 includes a rod 362 configured to slide relative to the arm 304. In the depicted embodiment, the rod 362 is configured to slide through a bearing or bushing fixedly coupled to the arm 304. The distal end of the rod 362 is coupled to the finger 306. In the specific example shown, the distal end of the rod 362 is coupled to the finger 304 via an extension bracket 366. The rod 362 is rotatably coupled to one end of the extension bracket 366, and the finger 306 is rotatably coupled to the other end of the extension bracket 366. The rod 362 is biased upward by a biasing mechanism 368. In the depicted embodiment, the biasing mechanism 368 is a compression spring that engages one of the bearings or bushings 364 to bias the rod 362 upward relative to the arm 304. The upper end of the biasing mechanism 368 contacts a collar fixedly coupled to the rod. In some embodiments, the collar is an integrated collar integrated with the rod 362 or a removable collar (e.g., a cross pin) that can be removed from the rod 362.

[0063] The locking mechanism 360 further includes a head 370 rotatably coupled to the arm 304. In the depicted embodiment, the head 370 includes a body 372 rotatably coupled to the arm 304. The body 372 includes a first surface 374 and a second surface 376, each configured to engage the proximal end of the rod 362. As discussed in more detail below, when the first surface 374 engages the proximal end of the rod 362, the locking mechanism 360 is in an unlocked configuration, and when the second surface 376 engages the proximal end of the rod 362, the locking mechanism is in a locked configuration. In other embodiments, before the proximal end of the rod 362 reaches the first surface 362, the collar of the rod 362 may contact one of the bearings or bushings 364, and when the collar of the rod 362 contacts one of the bearings or bushings 364, the locking mechanism 360 is in an unlocked configuration. In the depicted embodiment, the head 370 is rotationally biased by a biasing mechanism 378 that biases the head 370 to rotate in a clockwise direction (when viewed Figures 5A to 5F ). In the depicted embodiment, the biasing mechanism 378 is a tension spring.

[0064] The head 370 further includes a pawl 380 extending above the body 372. In some embodiments, the pawl 380 is rotatably coupled to the body 372. In some embodiments, the pawl 380 is rotationally biased relative to the body 372 in a counterclockwise direction. Further details regarding the rotational movement of the pawl 380 relative to the body 372 are provided below in the Figures 17A to 17Eis provided. The frame 302 also includes teeth 382 that extend downwardly in the direction of the pawl 380. As discussed in detail below, the pawl 380 is configured to engage the teeth 382 to effect a passive transition of the locking mechanism 360 from a locked configuration to an unlocked configuration in response to movement of the arm 304 relative to the frame 302 in a rightward direction (when viewed Figures 5A to 5F therein). This interaction is shown in the method depicted by the example from Figures 5A to 5F .

[0065] Figure 5A A first example of the method is depicted, in which the locking mechanism 360 is in an unlocked configuration. In particular, the proximal end of the rod 362 is engaged by the first surface 374 of the body 372 of the head 370. The finger 306 is in the open position. The locking mechanism 360 allows the finger 306 to rotate from the open position toward the holding position. In particular, if the finger 306 rotates upward, the clockwise rotation of the finger 306 will cause the extension bracket 366 and the rod 362 to be pulled downward. In the case where sufficient force is applied to the rod 362 to overcome the force of the biasing mechanism 368, the locking mechanism 360 will not prevent the rod 362 from sliding downward relative to the arm 304.

[0066] From Figure 5A the first example shown to Figure 5B the second example shown, the arm 304 has moved leftward relative to the frame 302. The pawl 380 is positioned and / or shaped to allow the pawl 380 to pass over the teeth 382 when the arm 304 moves leftward relative to the frame 302. In embodiments where the pawl 380 is rotatable relative to the body 372, when the arm 304 moves leftward relative to the frame 302, the pawl 380 may rotate relative to the body 372 if the pawl 380 contacts one or more of the teeth 382.

[0067] From Figure 5B the second example shown to Figure 5C the third example shown, the finger 306 has begun to rotate from the open position toward the holding position. The rotation of the finger 306 may be caused by any force on the finger 306, such as contact with a surface, contact with a deformable object, etc. When the locking mechanism 360 is in the unlocked configuration, the locking mechanism 360 allows the finger 306 to rotate between the open position and the holding position. In the depicted embodiment, the rotation of the finger 306 causes the rod 362 to move downward. As can be seen in Figure 5C , when the finger 306 rotates from the open position toward the holding position, no element of the locking mechanism prevents or impedes the downward movement of the rod 362. In Figure 5C , the finger 306 has not yet reached the holding position, and the proximal end of the rod 362 has not yet reached the second surface 376.

[0068] FromFigure 5C In the third example shown in Figure 5D In the fourth example shown in, the finger 306 has continued to rotate until the finger 306 reaches Figure 5D The holding position in. In response to the finger 306 reaching the holding position, the locking mechanism 360 transitions from the unlocked configuration to the locked configuration. In the depicted embodiment, the rotation of the finger 306 to the holding position causes the proximal end of the rod 362 to drop below the second surface 376. Once the proximal end of the rod 362 is below the second surface 376, the biasing mechanism 378 causes the head 370 to rotate in a clockwise direction (when viewed Figure 5D ), such that the second surface 376 is located above the proximal end of the rod 362. In this position, the second surface 376 prevents the rod 362 from Figure 5D Moving upward from the position shown, which also prevents the finger 306 from rotating from the holding position toward the open position. Thus, when the locking mechanism 360 is in the locked configuration, the locking mechanism 360 holds the finger 306 in the holding position.

[0069] In the depicted embodiment, when the locking mechanism 360 is in the locked configuration, the arm 304 can be moved to the left relative to the frame 302, and the locking mechanism 360 will remain in the locked configuration. Similarly, as long as the arm 304 does not move to the right relative to the frame 302, the entire system 300 can be moved while the locking mechanism 360 remains in the locked configuration. The movement of the arm 340 to the left pushes the pawl 380 under the tooth 382, and then the pawl 182 returns to its initial position through a combination of a spring and a plunger located inside the body 372. When the arm 304 moves to the right relative to the frame 302, returning the pawl 380 to its initial position allows the pawl 380 to engage the tooth 382. As the arm 304 moves to the left relative to the frame 302, this temporary detachment of the pawl 380 from the head 370 as the pawl 380 slides past the tooth 382 does not affect the locked configuration of the locking mechanism 360. However, the movement of the arm 304 to the right relative to the frame 302 will cause the locking mechanism 360 to transition from the locked configuration to the unlocked configuration. In the described embodiment, the clockwise rotation of the head 370 to the locked configuration has lifted the pawl 380 such that the end of the pawl 380 is located between the two teeth 382. As discussed below, the movement of the arm 304 to the right relative to the frame will cause the pawl 380 to interact with one of the teeth 382, resulting in the locking mechanism 360 transitioning from the locked configuration to the unlocked configuration.

[0070] From Figure 5D The fourth example shown in Figure 5EIn the fifth example shown, arm 304 has moved to the right relative to frame 302. In response to the movement of arm 304 to the right relative to frame 302, pawl 380 has engaged one of teeth 382. When pawl 380 engages one of teeth 382, further movement of arm 304 has caused head 370 to rotate counterclockwise against the force of biasing mechanism 378. In Figure 5E In the fifth example shown, a portion of second surface 376 still lies above the proximal end of rod 362, which prevents rod 362 from sliding upward. However, it will be appreciated that further rotation of head 370 will cause second surface 376 to be completely removed from the proximal end of rod 362 such that rod 362 can slide upward to first surface 374.

[0071] From Figure 5E the fifth example shown to Figure 5F the sixth example shown, arm 304 has continued to move further to the right relative to frame 302. The further movement of arm 304 relative to frame 302, in combination with the interaction of pawl 380 with one of teeth 382, has caused head 370 to rotate to the point where second surface 376 has been completely removed from the proximal end of rod 362 and rod 362 has slid upward until it contacts first surface 374, such that locking mechanism 360 has transitioned to the unlocked configuration. In the depicted embodiment, once second surface 376 has been completely removed from the proximal end of rod 362, biasing mechanism 362 has lifted rod 362. At this point, locking mechanism 360 returns to the same unlocked configuration as in its Figure 5A first example, and the entire process can be repeated again.

[0072] It will be noted that the movement of arm 304 to the right relative to the frame does not necessarily cause locking mechanism 360 to immediately transition to the unlocked configuration. In one example, the spacing of teeth 382 may allow arm 304 to move a small distance before pawl 380 engages one of teeth 382. In some embodiments, the spacing between teeth 382 (i.e., the spacing between any two successive teeth 382) is less than or equal to 0.75 inches (1.91 cm). In another example, the length of the engagement surface (i.e., the surface of the distal end of rod 362 that is coupled to the end of finger 306 and that engages finger 306) is the "sear" engagement length. In some embodiments, the sear engagement length is equal to the rod radius. In another example, the distance that arm 304 is able to move relative to frame 302 before the locking mechanism transitions from the locked configuration to the locked configuration is a function of both the sear length and the tooth spacing. For a smaller sear engagement length, the tooth spacing may also be reduced.

[0073] In yet another example, prior to the locking mechanism transitioning from an unlocked configuration to a locked configuration, the rotation of the finger 306 is also a factor in the distance that the arm 304 can move relative to the frame 302. The finger 306 rotates within an angular range between an open position and a retention position. In some embodiments, when the finger 306 is in the open position, the contact surface of the finger 306 is at a non-vertical angle, such as at least 5° off vertical. In some embodiments, when the finger 306 is in the retention position, the contact surface of the finger 306 is at or below horizontal. When these embodiments are combined, the finger 306 can rotate between the open position and the retention position within an angular range less than or equal to 85°, such as between 5° off vertical in the open position and 5° off horizontal in the retention position. More practically, when the finger 306 is in the open position, the contact surface of the finger 306 can be further from vertical, such as at a 20° angle from vertical, and when the finger 306 is in the retention position, the contact surface of the finger 306 can be from horizontal, such as at a 30° angle from vertical. In other embodiments, the angular range of the finger 306 between the open position and the retention position is less than 85°, such as a 40° range. The smaller the rotational range of the finger 306 between the open position and the retention position, the smaller the distance the rod 362 needs to travel to transition the locking mechanism 360 between the unlocked configuration and the locked configuration.

[0074] Figures 5A to 5F The process shown illustrates the operation of one embodiment of a passive locking mechanism. In particular, the transition of the locking mechanism 360 from the unlocked configuration to the locked configuration occurs in response to the rotation of the finger 306 from the open position to the retention position. No active controller is required to cause the locking mechanism 360 to transition from the unlocked configuration to the locked configuration. Similarly, the transition of the locking mechanism 360 from the locked configuration to the unlocked configuration occurs in response to the outward movement of the arm 304 relative to the frame 302 (i.e., moving to the right when viewed Figures 5A to 5F ). No active controller is required to cause the locking mechanism 360 to transition from the unlocked configuration to the locked configuration. When the locking mechanism 360 is in the unlocked configuration, the locking mechanism 360 allows the finger 306 to rotate between the open position and the retention position. And, when the locking mechanism 360 is in the locked configuration, the locking mechanism 360 holds the finger 306 in the retention position.

[0075] Figures 6A to 14B Embodiments of a system 400 that can be used to lift a deformable object from a surface and a method of the system 400 for lifting a deformable object 450 from a surface 452 are depicted. More specifically, Figure 6A and Figure 6B respectively depict a partial front view and a top cross-sectional view of a first instance of the method; Figure 7A and 7BRespectively depict a partial front view and a top cross-sectional view of a second instance of the method; Figure 8A and 8B Respectively depict a partial front view and a top cross-sectional view of a third instance of the method; Figure 9A and 9B Respectively depict a partial front view and a top cross-sectional view of a fourth instance of the method; Figure 10A and 10B Respectively depict a partial front view and a top cross-sectional view of a fifth instance of the method; Figure 11A and 11B Respectively depict a partial front view and a top cross-sectional view of a sixth instance of the method; Figure 12A and 12B Respectively depict a partial front view and a top cross-sectional view of a seventh instance of the method; Figure 13A and 13B Respectively depict a partial front view and a top cross-sectional view of an eighth instance of the method; and Figure 14A and 14B Respectively depict a partial front view and a top cross-sectional view of a ninth instance of the method. An embodiment of system 400 is depicted in co-pending patent application PCT / US2021 / 012130, filed on January 5, 2021, the content of which is incorporated herein by reference in its entirety.

[0076] System 400 includes a support structure (not shown) that includes a frame. The frame is configured to hold a pair of opposing arms, as discussed in more detail below. The support structure can be coupled in parallel to a fluid power system (e.g., a pneumatic system or a hydraulic system). System 400 is configured to move the coupled arms by changing the pressure in the fluid power system. In the depicted embodiment, the support structure is also configured to be coupled to a mobile device (e.g., a conveyor, a robotic arm, or any other device capable of moving) to couple system 400 to the mobile device.

[0077] System 400 also includes arms 4201, 4202, 4203, 4204, 4205, 4206 (collectively referred to as arms 420). Arms 4201 and 4202 are movably coupled to the support structure and form a pair of opposing arms. Arms 4201 and 4202 are capable of translating towards and away from each other. In some embodiments, arms 4201 and 4202 are biased away from each other by a biasing mechanism (e.g., a compression spring) to Figure 6A and 6B the positions shown. One or both of arms 4201 and 4202 can move towards the other, such as by increasing the pressure in the fluid power system.

[0078] Similarly, arms 4203 and 4204 are movably coupled to the support structure and form a pair of opposing arms. Arms 4205 and 4206 are also movably coupled to the support structure and form a pair of opposing arms. Arms 4203 and 4204 are capable of translational movement towards and away from each other, and arms 4205 and 4206 are capable of translational movement towards and away from each other. In some embodiments, arms 4203 and 4204 are biased away from each other by a biasing mechanism, and arms 4205 and 4206 are biased away from each other by the biasing mechanism to Figure 6A and 6B the positions shown. One or both of arms 4203 and 4204 can move towards the other, such as by increasing the pressure in a fluid power system. One or both of arms 4205 and 4206 can move towards the other, such as by increasing the pressure in a fluid power system.

[0079] System 400 further includes inclined surfaces 4301, 4302, 4303, 4304, 4305, 4306 (collectively inclined surfaces 430). The inclined surfaces 430 are configured to contact the sides of the deformable object when the deformable object is lifted by system 400. Inclined surfaces 4301, 4302, 4303, 4304, 4305, 4306 are located on arms 4201, 4202, 4203, 4204, 4205, 4206, respectively. In the depicted embodiment, system 400 further includes fingers 4321, 4322, 4323, 4324, 4325, 4326 (collectively fingers 432) rotatably coupled to the distal ends of arms 4201, 4202, 4203, 4204, 4205, 4206, respectively. In this embodiment, fingers 4321, 4322, 4323, 4324, 4325, 4326 include inclined surfaces 4301, 4302, 4303, 4304, 4305, 4306, respectively. In the depicted embodiment, fingers 4321, 4322, 4323, 4324, 4325, 4326 are removably coupled to the distal ends of arms 4201, 4202, 4203, 4204, 4205, 4206 by pins. The ability to easily remove (e.g., manually without tools) fingers 432 from the distal ends of arms 420 allows fingers 432 to be quickly removed from arms 420, such as for cleaning fingers 432. In some embodiments, the biasing mechanisms described herein can include one or more of a compression spring, a piston / cylinder mechanism, a stack of Belleville washers, or any other biasing mechanism. In Figure 6A and 6B the first example shown, fingers 432 have rotated downward due to gravity. In some embodiments, fingers 432 are capable of rotating within a range of rotational positions, and Figure 6A and 6BThe position of the finger 432 shown in the figure is the lowest rotational position within the possible range of positions of the finger 432. In Figure 6A and 6B In the depicted embodiment, the finger 432 can be considered to be in the open position.

[0080] The system 400 also includes locking mechanisms 4601, 4602, 4603, 4604, 4605, 4606 (collectively referred to as the locking mechanism 460), which are respectively coupled to the distal ends of the fingers 4321, 4322, 4323, 4324, 4325, 4326. The locking mechanism 460 is configured to selectively be in an unlocked configuration and a locked configuration. In Figure 6A and 6B In the first example shown, when the locking mechanism 460 is in the unlocked configuration, the locking mechanism 460 allows the finger 432 to rotate between the open position and the holding position.

[0081] Figure 6A and 6B Depicts a deformable object 450. The deformable object 450 can be food, such as a piece of raw meat, a vacuum-sealed piece of raw meat, a piece of fresh produce, or any other type of food. In the depicted embodiment, the deformable object 450 is located on the surface 452. In some embodiments, the surface 452 can be a conveyor belt, a tabletop, a shelf, or any other type of surface.

[0082] From Figure 6A and 6B In the first example shown to Figure 7A and 7B In the second example shown, the arm 420 has been lowered until the finger 432 contacts the surface 452 and causes the finger 432 to rotate. In particular, when observing Figure 7A the fingers 4321, 4323, and 4325 rotate clockwise, and the fingers 4322, 4324, and 4326 rotate counterclockwise. In Figure 7A and 7B In the depicted embodiment, the finger 432 can be considered to be in the holding position. When the locking mechanism 460 is in the unlocked configuration, rotation of the finger 432 is possible. In the depicted embodiment, the locking mechanism 460 is configured to transition from the unlocked configuration to the locked configuration in response to the finger 432 rotating to the holding position. In particular, in the depicted embodiment, the locking mechanism 460 is configured to automatically and passively transition to the locked configuration in response to the finger 432 rotating to the holding position. The locking mechanism 460 is also configured to hold the finger 432 in the holding position when the locking mechanism 460 is in the locked configuration.

[0083] In Figure 7A and 7BIn the second example shown, the deformable object 450 is on the surface 452, and the system 400 is oriented such that on either side of the deformable object 450 is one arm 420 of each pair of opposing arms. In some embodiments, the system 400 is coupled to the end of a robotic arm, and the robotic arm is configured to position the system 400 relative to the object 450, as Figure 7A and 7B shown, including moving the system 400 to cause rotation of the fingers 432 due to contact with the surface 452.

[0084] In some embodiments, the system 400 includes a drive mechanism for each pair of arms. Each drive mechanism is configured to move one or both arms of a pair of opposing arms (e.g., arms 4201 and 4202, arms 4203 and 4204, or arms 4205 and 4206) toward the other arm. In some embodiments, the drive mechanism can include one or more belt and pulley assemblies, a rack and pinion system, a cable and pulley system, or any other mechanism that can move the arms and / or overcome the biasing force of a biasing mechanism. In some embodiments, the drive mechanism is configured such that each pair of opposing arms is centered and aligned. For example, using a drive mechanism configured to drive arms 4201 and 4202, movement of arm 4201 toward or away from arm 4202 causes a corresponding movement of arm 4202 toward or away from arm 4201. In other embodiments, the drive mechanism can be configured such that each pair of opposing arms is side-aligned, where one arm of each pair of opposing arms does not move relative to the support structure. In Figure 7A and 7B the second example shown, within the range allowed by the support structure 410, the arms 420 of each pair of opposing arms are biased away from each other by a biasing mechanism 422.

[0085] The drive mechanism can increase the force on the arms 420 starting from Figure 7A and 7B the second example shown until the pressure reaches a predetermined level. In the depicted embodiment, the force applied to the arms 420 by the drive mechanism increases after Figure 7A and 7B the second example shown until Figure 12A and 12B the seventh example shown. Figures 7A to 12B Each of the second through seventh examples in Figure 12A and 12B shows a greater level of force applied to the arms 420 than the previous example. In

[0086] the seventh example shown in Figure 7A and 7B the force applied to the arms 420 by the drive mechanism has reached the predetermined level. Figure 8A and8B In the third instance shown in 8B , the force applied to arm 420 by the drive mechanism has increased to cause the pair of opposing arms to move towards each other. In particular, arm 4201 and arm 4202 have moved towards each other, arm 4203 and arm 4204 have moved towards each other, and arm 4205 and arm 4206 have moved towards each other. In the depicted embodiment, prior to the third instance, the force applied to arm 420 by the drive mechanism was substantially the same between each pair of arms, such that arms 4201, 4203, and 4205 tended to move substantially the same distance between the second and third instances, and arms 4202, 4204, and 4206 tended to move substantially the same distance between the second and third instances. In Figure 8A and 8B In the third instance shown in Figure 8A and 8B , the inclined surfaces 4303 and 4304 of arms 4203 and 4204 have respectively come into contact with the right and left sides of the deformable object 450. The deformable object 450 is not completely straight along the right and left sides, such that the inclined surfaces 4301, 4302, 4305, and 4306 of arms 4201, 4202, 4205, and 4206 do not come into contact with the deformable object 450.

[0087] From Figure 8A and 8B In the third instance shown in Figure 8A and 8B to Figure 9A and 9B In the fourth instance shown in Figure 9A and 9B , the force applied to arm 420 by the drive mechanism has increased. The resistance to the movement of arms 4203 and 4204 due to the contact between arms 4203 and 4204 and the deformable object 450 is much higher than the resistance to the movement of arms 4201 and 4202 and arms 4205 and 4206 from the drive fluid. In an embodiment where a pair of arms 4201 and 4202, a pair of arms 4203 and 4204, and a pair of arms 4205 and 4206 are connected in parallel to the drive mechanism, the increase in the force applied to arm 420 by the drive mechanism from the third instance to the fourth instance causes arms 4201 and 4202 and arms 4205 and 4206 to continue to move towards each other. Since a pair of opposing arms 4201 and 4202 and a pair of opposing arms 4205 and 4206 are connected in parallel to the drive mechanism, arms 4201 and 4205 tend to move substantially the same distance between the second and third instances, and arms 4202 and 4206 tend to move substantially the same distance between the third and fourth instances. In Figure 9A and 9B In the fourth instance shown in Figure 9A and 9B , the inclined surfaces 4301 and 4202 of arms 4201 and 4202 have respectively come into contact with the right and left sides of the deformable object 450. The deformable object 450 is not completely straight along the right and left sides, such that the inclined surfaces 4305 and 4306 of arms 4205 and 4206 do not come into contact with the deformable object 450.

[0088] From Figure 8A and 8B the third example shown in Figure 9A and 9B to the fourth example shown in Figure 9A and 9B the driving mechanism has increased the force applied to the arm 420. The resistance to the movement of the arms 4201 and 4202 and the arms 4203 and 4204 from the deformable object 450 is much higher than the resistance to the movement of the arms 4205 and 4206 from the air. Since the pair of arms 4201 and 4202, the pair of arms 4203 and 4204, and the pair of arms 4205 and 4206 are connected in parallel to the driving mechanism, the increase in the force applied by the driving mechanism from the third example to the fourth example causes the arms 4205 and 4206 to continue to move towards each other. At

[0089] From Figure 9A and 9B the fourth example shown in Figure 10A and 10B to the fifth example shown in Figure 11A and 11B and then to the sixth example shown in Figure 11A and 11B the driving mechanism has increased the force applied to the arm 420. Since all the inclined surfaces 430 are in contact with the deformable object 450 in the fourth example, the increase in the force applied by the driving mechanism from the fourth example to the fifth example causes the arm 420 to apply a compressive force on the deformable object 450. The compressive force applied by the arm 420 on the deformable object 450 causes the deformable object 450 to slide upward on the inclined surface 430 and begins to lift the deformable object 450 off the surface 452.

[0090] From Figure 11A and 11B the sixth example shown in Figure 12A and 12BIn the seventh example shown, the drive mechanism has increased the force applied to arm 420. From the sixth example to the seventh example, an increase in pressure in the hydrodynamic system 442 causes arm 420 to further apply a compressive force on the deformable object 450. In particular, in the seventh example, the force applied by the drive mechanism has been increased to a force at a predetermined level. The compressive force applied by arm 420 on deformable object 450 causes deformable object 450 to further slide upward on the inclined surface 430 and lift deformable object 450 further away from surface 452. In some embodiments, the predetermined level of force is selected based on one or more of the desired amount of compressive force to be applied by arm 420 on deformable object 450, the desired height by which deformable object 450 is to be lifted from surface 452, or any other desired result of the movement of arm 420.

[0091] Embodiments of system 400 include three pairs of opposing arms 420. It will be apparent that system 400 can have any number of pairs of opposing arms, such as two pairs of opposing arms, four pairs of opposing arms, or any other number of pairs of opposing arms. In some embodiments, a greater number of pairs of opposing arms can allow the arms to better conform to the shape of the deformable object. However, a greater number of pairs of opposing arms also increases the complexity of the system. In some embodiments, the number of pairs of opposing arms, such as three pairs of opposing arms or four pairs of opposing arms, can be selected based on the desired amount of conformity to the deformable object, the desired level of complexity of the system, the expected size and / or shape of the deformable object to be lifted by the system, any other factor, or any combination thereof.

[0092] Figures 4A to 12BAn embodiment of the method depicted shows some of the benefits of system 400, where the drive mechanism is connected in parallel to a pair of opposing arms 4201 and 4202, a pair of opposing arms 4203 and 4204, and a pair of opposing arms 4205 and 4206. One benefit is that each pair of opposing arms can close different distances around the deformable object 450 while being driven with substantially the same force in the direction of travel. In the depicted example, a pair of opposing arms 4203 and 4204 move towards each other the least amount until the inclined surfaces 4303 and 4304 contact the deformable object 450, a pair of opposing arms 4201 and 4202 move towards each other a greater amount until the inclined surfaces 4301 and 4302 contact the deformable object 450, and a pair of opposing arms 4205 and 4206 move towards each other the greatest amount until the inclined surfaces 4305 and 4306 contact the deformable object 450. In other embodiments, where the deformable object 450 has different dimensions and / or shapes, each pair of opposing arms can close different lengths based on the dimensions and / or shape of the deformable object 450. In cases where system 400 is used to pick up many different deformable objects having different shapes and / or dimensions, the closing of the pairs of opposing arms is adapted to the shape and / or dimensions of each deformable object.

[0093] Another benefit of system 400 is that the arms 420 can conform to the unique shape and / or dimensions of the deformable object without a feedback system located on the arms 420. In system 400, there is no need to measure the amount of force applied by each arm 420, measure the distance each arm 420 travels, determine whether each arm 420 has made contact with the deformable object 450, etc. By controlling the force applied by the drive mechanism to the arms 420, all functions of the arms 420 can be controlled passively (i.e., controlled without directly measuring any aspect of the arms). In cases where system 400 is used to lift a deformable food product (e.g., raw meat chunks), any part of system 400 that may come into contact with the deformable food must be cleaned and / or replaced regularly. Having no additional devices (such as feedback sensors, actuators, etc.) on the arms 420 greatly reduces the number of parts in system 400 that need to be cleaned and / or replaced due to potential contact with the food.

[0094] Another benefit of system 400 is that the arms 420 are able to lift the deformable object 450 reliably and stably. If it is required that arms 4201, 4203, and 4205 move in unison, and it is required that arms 4202, 4204, and 4206 move in unison, the result would be an unstable lift of the deformable object 450. For example, after the inclined surfaces 4303 and 4304 initially contact the deformable object 450 (e.g., at Figure 8A and 8BIn the third example shown below, the continued movement of arms 4201, 4203, and 4205 towards deformable object 450 and the continued movement of arms 4202, 4204, and 4206 towards deformable object 450 will cause inclined surfaces 4303 and 4304 to apply a lifting force near the middle of deformable object 450 before inclined surfaces 4301, 4302, 4305, and 4306 contact deformable object 450. The result will be the instability of deformable object 450 because it is lifted by inclined surfaces 4303 and 4304 before being supported by inclined surfaces 4301, 4302, 4305, and 4306. In this unstable lifting, deformable object 450 may rock and / or fall from system 400, potentially damaging deformable object 450 and / or system 400. In contrast, the coupling of the pairs of opposing arms 420 in system 400 allows each inclined surface 430 to contact deformable object 450 before any arm 420 applies a significant lifting force. Then, when all inclined surfaces 430 contact deformable object 450, all inclined surfaces 430 provide a lifting force to reliably and stably lift deformable object 450 from surface 452.

[0095] Another advantage of system 400 is that, after deformable object 450 has been lifted from surface 452, the system can reliably hold deformable object 450. After the locking mechanisms are in the locked configuration, as they are in the seventh example shown in Figure 12A and 12B , system 400 can be moved and fingers 432 will be held in the holding position by locking mechanisms 460. In this way, system 400 can be moved to move deformable object. In the eighth example shown in Figure 13A and 13B , the system has been moved away from surface 452. In some embodiments, system 400 is coupled to a moving device (e.g., a conveyor, a robotic arm, or any other device capable of moving), and when locking mechanisms 460 are in the locked configuration, the moving device moves system 400 to hold fingers 432 in the holding position.

[0096] It is worth noting that arms 420 can move in the inward direction without affecting the configuration of locking mechanisms 460. In particular, locking mechanisms 460 are in the locked configuration in the second example shown in Figure 7A and 7B to hold fingers 432 in the holding position. From the second example shown in Figure 7A and 7B to Figure 12A and 12BIn the seventh example shown, the arm 420 moves inwardly (e.g., relative to the frame that holds the arm 420). The inward movement of the arm 420 does not cause the locking mechanism 460 to transition from the locked configuration to the unlocked configuration. In other words, when the arm 420 moves inwardly, the locking mechanism 460 remains in the locked configuration.

[0097] At some point, the deformable object 450 will be released from the system 400. In the depicted embodiment, the locking mechanism 460 is configured to transition from the locked configuration to the unlocked configuration in response to an outward movement of the arm 420 relative to the frame. In Figure 14A and 14B In the ninth example shown, the arm 420 is moving outwardly. For example, the arm 420 moves outwardly relative to the frame by a drive mechanism. The outward movement of the arm 420 causes the locking mechanism 460 to transition from the locked configuration to the unlocked configuration. Once in the unlocked configuration, the locking mechanism 460 allows the fingers 432 to rotate downwardly (i.e., when viewed Figure 14A from one direction, the fingers 4321, 4323, and 4325 rotate counterclockwise, and when viewed Figure 14A from another direction, the fingers 4322, 4324, and 4326 rotate clockwise). The downward rotation of the fingers 432 and / or the outward movement of the arm 420 allows the deformable object 450 to fall from the system 400.

[0098] The system 400 can be used to move a deformable object from one location to another. For example, in the method shown in Figures 6A to 14B , the surface 452 can represent a conveyor belt in a packaging facility, and in the ninth example shown in Figure 14A and 14B , the system 400 can be positioned above a shipping box at a packing station in a packaging facility. In this example, the system 400 can be used to lift a deformable object from the conveyor belt, transport the deformable object to the packing station, and then cause the deformable object to fall into the shipping box at the packing station. The use of the locking mechanism 460 significantly reduces the likelihood that the deformable object 450 will be dropped by the system 400 when the system transports the deformable object 450 between the surface 452 and the location where the deformable object 450 is intentionally dropped from the system 400.

[0099] Figures 15A to 15D An example of another embodiment of a method of using the system 200 to move a deformable object 214 is depicted. Figure 15A An example is depicted that is the same as that shown in Figure 4A . From Figure 15AIn the illustrated example, arm 204 has moved downward relative to surface 212. Finger 206 contacts surface 212 such that surface 212 provides a reaction force on finger 206, causing finger 206 to rotate from the open position to the holding position. Locking mechanism 260 is configured to transition from an unlocked configuration to a locked configuration in response to finger 206 rotating to the holding position. Thus, in Figure 15B the locking mechanism 260 is in the locked configuration because finger 206 has rotated to the holding position.

[0100] From Figure 15B the illustrated example to Figure 15C the illustrated example, arm 204 has moved to the right relative to frame 202 until finger 206 has slid under object 214 and lifted the object from surface 212. Locking mechanism 260 is configured to transition from the locked configuration to the unlocked configuration in response to movement of arm 204 relative to frame 202 in the outward direction. However, because arm 204 moves inward between Figure 15B and 15C the locking mechanism 260 has not yet transitioned to the unlocked position. From Figure 15C the illustrated example to Figure 15D the illustrated example, arm 204 has been lifted upward relative to frame 202. Because the locking mechanism remains in the locked configuration, finger 206 holds deformable object 214 as arm 204 lifts deformable object 214.

[0101] In many cases, embodiments of using system 200 to move Figures 15A to 15D the deformable object 214 illustrated may be superior to Figures 4A to 4D the method illustrated. For example, if surface 212 has high rigidity and deformable object 214 has low rigidity and / or is very thin, using the surface to rotate finger 206 to the holding position may be more reliable and successful than using deformable object 214 to rotate finger 206.

[0102] Figures 16A to 16D An example depicting another embodiment of the operation of passive locking mechanism 360 in system 300 is shown. In Figures 16A to 16D the particular embodiment shown, finger 306 rotates from the holding position to the locking position due to interaction with surface 312. In some cases, surface 312 holds a deformable object that can be lifted and held by finger 306.

[0103] In Figure 16A the illustrated example, arm 304 is located relative to frame 302 at the same position as Figure 5A shown. System 300 is also shown above surface 312. In particular, finger 306 is above surface 312. In Figure 16AIn [the situation], the finger 306 is in the open position. From Figure 16A the example shown to Figure 16B the example shown, the system 300 has been lowered relative to the surface 312 until the finger 306 has made contact with the surface 312. As the system is lowered, the force applied by the surface 312 on the finger 306 has caused the finger 306 to begin rotating from the open position towards the holding position. The rotation of the finger 306 has caused the rod 362 to be pulled downward, such that the proximal end of the rod 362 has withdrawn from the first surface 374. However, the locking mechanism 360 has not yet transitioned to the locked configuration because the finger 306 has not yet reached the holding position.

[0104] From Figure 16B the example shown to Figure 16C the example shown, the system 300 has been further lowered relative to the frame 312. The system 300 has been lowered to the extent that the surface 312 has applied sufficient force on the finger 306 to cause the finger 306 to rotate to the holding position. The rotation of the finger 306 has caused the locking mechanism 360 to transition to the locked configuration. In particular, the rotation of the finger 306 has caused the rod 362 to withdraw below the second surface 376, such that the biasing mechanism 378 can cause the head 370 to rotate, such that the second surface 374 is located above the proximal end of the rod 362, which will prevent the finger 306 from rotating downward towards the open position.

[0105] From Figure 16C the example shown to Figure 16D the example shown, the arm 304 has moved inward relative to the frame 302 (i.e., to the left when viewed Figure 16C and 16D ). The inward movement of the arm 304 relative to the frame 302 does not cause the locking mechanism 360 to transition from the locked configuration to the unlocked configuration. In particular, when the arm 304 moves in the inward direction relative to the frame 302, the pawl 380 can slide through the teeth 382. However, if the arm 304 moves in the outward direction relative to the frame 302 (i.e., to the right when viewed Figure 16C and 16D ), the pawl 380 will engage the teeth 382 to cause the locking mechanism 360 to transition from the locked configuration to the unlocked configuration, similar to that depicted and described with respect to Figure 5E and 5F .

[0106] Figures 17A to 17E depicts an example of an embodiment of the rotational movement of the pawl 380 relative to the body 372 in the locking mechanism 360. In Figure 17AIn [the situation], the locking mechanism 360 is in the locked configuration, and the pawl 380 is located between an adjacent pair of teeth 382 on the frame 302. The pawl 380 is biased counterclockwise relative to the body 372 by a biasing mechanism 384. In the depicted embodiment, the biasing mechanism 384 is a plunger / spring located in the body 372 that acts on a surface 386 of the pawl 380. The biasing force of the biasing mechanism 384 acts on the surface 386 of the pawl 380 to cause the distal end 388 of the pawl 380 to contact the remainder of the body 372.

[0107] In Figure 17B [the situation], when the arm 304 moves inward relative to the frame 302 (i.e., to the left when viewed Figure 17B ), the locking mechanism 360 remains in the locked configuration. When the pawl 380 contacts one of the teeth 382, the resultant force on the pawl 380 causes the pawl 380 to rotate about the pivot point against the force of the biasing mechanism 384 in the body 372. This rotation of the pawl 380 allows the pawl 380 to pass under the tooth 382. When the proximal end of the pawl 380 has completely passed over the tooth due to the force exerted on the pawl 380 by the biasing mechanism 384, the pawl 380 will return to the counterclockwise-biased position. When the arm 304 moves in the outward direction relative to the frame 302, the return of the pawl 380 to the counterclockwise-biased position places the pawl 380 in a position where it can engage the tooth 382 to transition the locking mechanism 360 to the unlocked configuration.

[0108] In Figure 17C [the situation], the locking mechanism 360 remains in the locked configuration. The pawl 380 has returned to the counterclockwise-biased position and the proximal end of the pawl 380 is located between the two teeth 382. The arm 304 has started to move in the outward direction until the proximal end of the pawl 380 has made contact with one of the teeth 382. In this position, the distal end 388 of the pawl 380 contacts the body 372 such that the pawl 380 cannot rotate further in the counterclockwise direction unless the body 372 also rotates in the counterclockwise direction with the pawl 380.

[0109] In Figure 17D [the situation], the arm 304 continues to move in the outward direction relative to the frame 302. The pawl 380 is in contact with one of the teeth 382, and the tooth 382 exerts a force on the proximal end of the pawl 380. The force exerted on the pawl 380 is capable of overcoming the force of the biasing mechanism 378 to cause the pawl 380 and the body 372 to rotate together. This rotation of the body 372 has caused the second surface 376 to rotate past the proximal end of the rod 362 such that the rod can move upward toward the first surface 374. This causes the locking mechanism 360 to transition to the unlocked configuration to allow the finger 306 to rotate. In some embodiments, the geometry of the pawl 380 and / or the body 372 is arranged such that the locking mechanism 360 transitions to the unlocked configuration before the pawl 380 has completely passed under the tooth.

[0110] In Figure 17E this case, the rod 362 has moved upwardly towards the first surface 374 to place the locking mechanism 360 in an unlocked configuration. The pawl 380 has rotated sufficiently such that the pawl 382 can pass under the teeth. This position of the pawl 380 allows the arm 304 to continue to move in the outward direction relative to the frame 302. As the arm 304 continues to move in the outward direction relative to the frame 302, the pawl 380 will likewise be able to pass under any other tooth 382.

[0111] Embodiments of the locking mechanism described herein allow the system to be used with deformable objects of a wide variety of shapes and sizes. In particular, by transitioning to a locked configuration in response to the finger rotating to a holding position and by transitioning to an unlocked configuration in response to the movement of the arm relative to the frame in a particular direction, a system having the locking mechanism can allow the system to operate on objects of almost any size and shape. In particular, when the finger rotates to the holding position, the locking mechanism will hold the finger in the holding position, and when the arm moves in a particular direction, the locking mechanism will release the finger. These actions are performed regardless of the size or shape of the object interacting with the finger. Additionally, with embodiments of the passive locking mechanism described herein, these actions occur automatically based on the rotation of the finger and the movement of the arm without the need for sensors, controllers, and other elements that make up an active system.

[0112] Figure 18 An example embodiment of a system 510 is depicted that can be used to implement some or all of the embodiments described herein. In the depicted embodiment, the system 510 includes computing devices 5201, 5202, 5203, and 5204 (collectively referred to as computing devices 520). In the depicted embodiment, computing device 5201 is a tablet computer, computing device 5202 is a mobile phone, computing device 5203 is a desktop computer, and computing device 5204 is a laptop computer. In other embodiments, the computing devices 520 include desktop computers, mobile phones, tablet computers, phablets, notebook computers, laptop computers, distributed systems, game consoles (e.g., Xbox, Play Station, Wii), watches, pairs of glasses, keychains, radio frequency identification (RFID) tags, headphones, scanners, televisions, dongles, cameras, wristbands, wearable items, kiosks, input terminals, servers, server networks, blades, gateways, switches, processing devices, processing entities, set-top boxes, repeaters, routers, network access points, base stations, any other device configured to perform the functions, operations, and / or processes described herein, or any combination thereof.

[0113] The computing devices 520 are communicatively coupled to each other via one or more networks 530 and 532. Each of the networks 530 and 532 may include one or more wired or wireless networks (e.g., 3G network, Internet, internal network, private network, secure network). The computing devices 520 are capable of communicating with each other via one or more wired or wireless networks and / or with any other computing device. Although Figure 18 the specific system 510 in

[0114] depicts the computing devices 520 communicatively coupled via the network 530 as including four computing devices, any number of computing devices may be communicatively coupled via the network 530.

[0115] Figure 19 Depicted in

[0116] In the depicted embodiment, computing device 600 includes processing element 605, memory 610, user interface 615, and communication interface 620. Processing element 605, memory 610, user interface 615, and communication interface 620 are capable of communicating via communication bus 625 by reading data from and / or writing data to communication bus 625. Computing device 600 may include other components capable of communicating via communication bus 625. In other embodiments, computing device does not include communication bus 625, and the components of computing device 600 are capable of communicating with each other in some other manner.

[0117] Processing element 605 (also referred to as one or more processors, processing circuitry, and / or similar terms used herein) is capable of performing operations on some external data sources. For example, processing element may perform operations on data in memory 610, data received via user interface 615, and / or data received via communication interface 620. As will be appreciated, processing element 605 may be embodied in a variety of different ways. In some embodiments, processing element 605 includes one or more complex programmable logic devices (CPLDs), microprocessors, multi-core processors, coprocessing entities, application specific instruction set processors (ASIPs), microcontrollers, controllers, integrated circuits, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), hardware accelerators, any other circuitry, or any combination thereof. The term "circuitry" may refer to a purely hardware embodiment or a combination of hardware and a computer program product. In some embodiments, processing element 605 is configured for a particular use or is configured to execute instructions stored in volatile or non-volatile media or otherwise accessible to processing element 605. Thus, whether configured by hardware or a computer program product, or a combination thereof, processing element 605 is capable of performing steps or operations when correspondingly configured.

[0118] Memory 610 in computing device 600 is configured to store data, computer-executable instructions, and / or any other information. In some embodiments, memory 610 includes volatile memory (also referred to as volatile storage, volatile media, volatile memory circuitry, etc.), non-volatile memory (also referred to as non-volatile storage, non-volatile media, non-volatile memory circuitry, etc.), or some combination thereof.

[0119] In some embodiments, the volatile memory includes random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data output dynamic random access memory (EDO DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), double data rate type two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), two-transistor RAM (TTRAM), thyristor RAM (T-RAM), zero-capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, any other memory that requires power to store information, or any combination thereof.

[0120] In certain embodiments, the non-volatile memory includes one or more of the following: hard disk, floppy disk, flexible disk, solid state storage (SSS) (e.g., solid state drive (SSD)), solid state card (SSC), solid state module (SSM), enterprise flash drive, magnetic tape, any other non-transitory magnetic medium, compact disc read only memory (CD ROM), rewritable compact disc (CD-RW), digital versatile disc (DVD), Blu-ray disc (BD), any other non-transitory optical medium, read only memory (ROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), flash memory (e.g., serial, NAND, NOR, and / or similar memory), multimedia memory card (MMC), secure digital (SD) memory card, memory stick, conductive-bridging random access memory (CBRAM), phase change random access memory (PRAM), ferroelectric random access memory (FeRAM), non-volatile random access memory (NVRAM), magnetoresistive random access memory (MRAM), resistive random access memory (RRAM), silicon-oxide-nitride-oxide-silicon memory (SONOS), floating junction gate random access memory (FJGRAM), Millepede memory, racetrack memory, any other memory that can store information without power, or any combination of the foregoing.

[0121] In some embodiments, the memory 610 is capable of storing one or more of the following: a storage database, a database instance, a database management system, data, an application, a program, a program module, a script, source code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, or any other information. As used herein, the terms database, database instance, database management system, and / or like terms may refer to a collection of records or data stored in a computer-readable storage medium using one or more database models, such as a hierarchical database model, a network model, a relational model, an entity-relationship model, an object model, a document model, a semantic model, a graph model, or any other model.

[0122] The user interface 615 of the computing device 600 communicates with one or more input or output devices capable of receiving input from and / or outputting any output to the computing device 600. Examples of input devices include a keyboard, a mouse, a touchscreen display, a touchpad, a motion input device, a mobile input device, an audio input, a pointing device input, a joystick input, a keypad input, a peripheral device 540, a footswitch, and the like. Examples of output devices include an audio output device, a video output, a display device, a motion output device, a mobile output device, a printing device, and the like. In some embodiments, the user interface 615 includes hardware configured to communicate with one or more input devices and / or output devices via a wired and / or wireless connection.

[0123] The communication interface 620 is capable of communicating with various computing devices and / or networks. In some embodiments, the communication interface 620 is capable of communicating data, content, and / or any other information that can be sent, received, manipulated, processed, displayed, stored, etc. Communication via the communication interface 620 can be performed using wired data transmission protocols 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, communication via the communication interface 620 can be performed using wireless data transmission protocols such as General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 1xRTT, Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution-Data Optimized (EVDO), High Speed Packet Access (HSPA), High Speed Downlink Packet Access (HSDPA), IEEE 802.11 (WiFi), WiFi Direct, 802.16 (WiMAX), Ultra Wideband (UWB), Infrared (IR) protocol, Near Field Communication (NFC) protocol, Wibree, Bluetooth protocol, Wireless Universal Serial Bus (USB) protocol, or any other wireless protocol.

[0124] As will be appreciated by those skilled in the art, one or more components of the computing device 600 can be remote from other components of the computing device 600 components, such as in a distributed system. Additionally, one or more of the components can be combined, and additional components that perform the functions described herein can be included in the computing device 600. Thus, the computing device 600 can be adapted to accommodate various requirements and environments. The architectures and descriptions depicted and described are provided for exemplary purposes only and are not limited to the various embodiments described herein.

[0125] The embodiments described herein can be implemented in various ways, including as a computer program product comprising a non-transitory computer-readable storage medium. The computer program product can include a storage medium storing applications, programs, program modules, scripts, source code, program code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and / or the like (also referred to herein as executable instructions, instructions for execution, computer program products, program code, and / or similar terms that can be used interchangeably herein). Such non-transitory computer-readable storage media include all computer-readable media (including volatile and non-volatile media).

[0126] It should be appreciated that the various embodiments of the embodiments described herein can also be implemented as methods, devices, systems, computing devices, etc. Thus, the embodiments described herein can take the form of a device, system, computing device, etc. that executes instructions stored on a computer-readable storage medium to perform certain steps or operations. Accordingly, the embodiments described herein can be implemented entirely in hardware, entirely in a computer program product, or in an embodiment that includes a combination of a computer program product and hardware that performs certain steps or operations.

[0127] The embodiments described herein can be implemented with reference to block diagrams and flowchart illustrations. Accordingly, it should be understood that the blocks of the block diagrams and flowchart illustrations can be implemented in the form of a computer program product, in an embodiment that is entirely hardware, in a combination of hardware and a computer program product, or in a device, system, computing device, etc. that implements instructions, operations, or steps. Such instructions, operations, or steps can be stored on a computer-readable storage medium for execution by a processing element in a computing device. For example, the retrieval, loading, and execution of code can be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some exemplary embodiments, the retrieval, loading, and / or execution can be performed in parallel such that multiple instructions are retrieved, loaded, and / or executed together. Accordingly, such embodiments can produce a specially configured machine that executes the steps or operations specified in the block diagrams and flowchart illustrations. Thus, the block diagrams and flowchart illustrations support various combinations of embodiments for performing the specified instructions, operations, or steps.

[0128] For the purposes of this disclosure, terms such as "up", "down", "vertical", "horizontal", "inward", "outward", "inner", "outer", "front", "rear", etc. should be construed as descriptive and not limiting of the scope of the claimed subject matter. Additionally, the use of "including", "comprising", or "having" and variations thereof herein is intended to cover the items listed thereafter and their equivalents as well as additional items. Unless otherwise limited, the terms "connected", "coupled", and "mounted" and variations thereof are used broadly herein and cover direct and indirect connections, couplings, and mountings. Unless otherwise specified, terms such as "substantially", "approximately", etc. are used to mean within 5% of a target value.

[0129] The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, the aspects of the present disclosure that are intended to be protected should not be construed as limited to the specific embodiments disclosed. Additionally, the embodiments described herein are considered to be illustrative rather than restrictive. It will be appreciated that others can make variations and changes and can adopt equivalent means without departing from the spirit of the present disclosure. Accordingly, it is manifestly intended that all such variations, changes, and equivalent means fall within the spirit and scope of the claimed present disclosure.

Claims

1. A system, comprising: a frame; an arm movable relative to the frame in a first direction and a second direction opposite the first direction; a finger rotatably coupled to the arm, wherein the finger is rotatable relative to the arm between an open position and a holding position; and a locking mechanism coupled to the finger, wherein the locking mechanism is configured to be selectively in an unlocked configuration and a locked configuration, and wherein the locking mechanism is configured to: allow the finger to rotate between the open position and the holding position when the locking mechanism is in the unlocked configuration, transition from the unlocked configuration to the locked configuration in response to the finger rotating to the holding position, hold the finger in the holding position when the locking mechanism is in the locked configuration, and transition from the locked configuration to the unlocked configuration in response to the arm moving relative to the frame in the second direction.

2. The system according to claim 1, wherein, The locking mechanism is a passive locking mechanism.

3. The system according to claim 2, wherein The passive locking mechanism includes: a rod slidably coupled to the arm; and a head rotatably coupled to the arm; wherein the rod includes a distal end coupled to the finger and a proximal end configured to engage the head.

4. The system according to claim 3, wherein, The head includes a first surface and a second surface, wherein the head and the rod are arranged such that: the proximal end of the rod can contact the first surface when the locking mechanism is in the unlocked configuration; and the proximal end of the rod contacts the second surface when the locking mechanism is in the locked configuration.

5. The system according to claim 4, wherein The passive locking mechanism includes a first biasing mechanism configured to bias the rod toward the head.

6. The system according to claim 5, wherein, The passive locking mechanism includes a second biasing mechanism configured to rotationally bias the head to the locked configuration, wherein the second surface is located above the proximal end of the rod.

7. The system according to claim 6, wherein: the head includes a pawl; the frame includes a plurality of teeth; when the locking mechanism is in the locked configuration and the arm is relative to the frame in the second direction, the pawl is positioned to engage one of the plurality of teeth to rotate the head against the force of the second biasing mechanism.

8. The system according to claim 7, wherein, The spacing between each of the plurality of teeth is less than or equal to 0.75 inches (1.91 cm).

9. The system according to claim 7, wherein, The pawl is rotationally biased relative to the body of the head.

10. The system according to claim 1, wherein The locking mechanism is an active locking mechanism.

11. The system according to claim 10, wherein, The active locking mechanism includes a controller configured to: control the transition of the locking mechanism from the unlocked configuration to the locked configuration in response to the finger rotating to the holding position; and control the transition of the locking mechanism from the locked configuration to the unlocked configuration in response to the arm moving relative to the frame in the second direction.

12. The system according to claim 11, wherein, The active locking mechanism further includes one or more sensors configured to detect at least one of the following: rotation of the finger to the holding position; or movement of the arm relative to the frame in the second direction.

13. A system, comprising: a frame; A first pair of opposing arms, wherein the first pair of opposing arms includes a first arm and a second arm, and wherein each of the first arm and the second arm is movable relative to the frame in an inward direction towards the other of the first arm and the second arm and in an outward direction away from the other of the first arm and the second arm; A first finger rotatably coupled to the first arm and a second finger rotatably coupled to the second arm, wherein each of the first finger and the second finger is rotatable between an open position and a holding position; and A first locking mechanism coupled to the first finger and a second locking mechanism coupled to the second finger, wherein each of the first locking mechanism and the second locking mechanism is configured to selectively be in an unlocked configuration and a locked configuration; Wherein the first locking mechanism is configured to: When the first locking mechanism is in the unlocked configuration, allow the first finger to rotate between the open position and the holding position, In response to the first finger rotating to the holding position, transition from the unlocked configuration to the locked configuration, When the locking mechanism is in the locked configuration, hold the first finger in the holding position, and In response to the first arm moving relative to the frame in the outward direction, transition from the locked configuration to the unlocked configuration; and Wherein the second locking mechanism is configured to: When the second locking mechanism is in the unlocked configuration, allow the second finger to rotate between the open position and the holding position, In response to the second finger rotating to the holding position, transition from the unlocked configuration to the locked configuration, When the locking mechanism is in the locked configuration, hold the second finger in the holding position, and In response to the second arm moving relative to the frame in the outward direction, transition from the locked configuration to the unlocked configuration.

14. The system according to claim 13, wherein, The first arm and the second arm are biased away from each other.

15. The system according to claim 14, wherein, The frame is configured to apply a force on the first arm and the second arm to move the first arm and the second arm inward relative to the frame against the biasing force.

16. The system according to claim 13, wherein, Each of the first and second locking mechanisms is a passive locking mechanism and includes: A rod slidably coupled to one of the first arm and the second arm; and A head rotatably coupled to one of the first arm and the second arm; Wherein the rod includes a distal end coupled to the finger and a proximal end configured to engage the head; Wherein the head includes a ratchet; Wherein the frame includes a plurality of teeth; and Wherein when the locking mechanism is in the locked configuration and the arm is in a second direction relative to the frame, the ratchet is positioned to engage one of the plurality of teeth to rotate the head.

17. The system according to claim 13, further comprising: A second pair of opposing arms, wherein the second pair of opposing arms includes a third arm and a fourth arm, and wherein each of the third arm and the fourth arm is movable relative to the frame in an inward direction towards the other of the third arm and the fourth arm and in an outward direction away from the other of the third arm and the fourth arm; A third finger rotatably coupled to the third arm and a fourth finger rotatably coupled to the fourth arm, wherein each of the third finger and the fourth finger is rotatable between an open position and a holding position; and A third locking mechanism coupled to the third finger and a fourth locking mechanism coupled to the fourth finger, wherein each of the third locking mechanism and the fourth locking mechanism is configured to selectively be in an unlocked configuration and a locked configuration; Wherein the third locking mechanism is configured to: When the third locking mechanism is in the unlocked configuration, allow the third finger to rotate between the open position and the holding position, In response to the third finger rotating to the holding position, transition from the unlocked configuration to the locked configuration, When the locking mechanism is in the locked configuration, hold the third finger in the holding position, and In response to the third arm moving relative to the frame in an outward direction, transition from the locked configuration to the unlocked configuration; and Wherein the fourth locking mechanism is configured to: When the fourth locking mechanism is in the unlocked configuration, allow the fourth finger to rotate between the open position and the holding position, In response to the fourth finger rotating to the holding position, transition from the unlocked configuration to the locked configuration, When the locking mechanism is in the locked configuration, hold the fourth finger in the holding position, and In response to the fourth arm moving relative to the frame in an outward direction, transition from the locked configuration to the unlocked configuration.

18. The system according to claim 17, wherein, The first pair of opposing arms is movable inwardly and outwardly independently of the inward and outward movement of the second pair of opposing arms.

19. The system of claim 17, further comprising: A third pair of opposing arms, wherein the third pair of opposing arms includes a fifth arm and a sixth arm, and wherein each of the fifth arm and the sixth arm is movable relative to the frame in an inward direction toward the other of the fifth arm and the sixth arm and in an outward direction away from the other of the fifth arm and the sixth arm; A fifth finger rotatably coupled to the fifth arm and a sixth finger rotatably coupled to the sixth arm, wherein each of the fifth finger and the sixth finger is rotatable between an open position and a holding position; and A fifth locking mechanism coupled to the fifth finger and a sixth locking mechanism coupled to the sixth finger, wherein each of the fifth locking mechanism and the sixth locking mechanism is configured to selectively be in an unlocked configuration and a locked configuration; Wherein the fifth locking mechanism is configured to: When the fifth locking mechanism is in the unlocked configuration, allow the fifth finger to rotate between the open position and the holding position, In response to the fifth finger rotating to the holding position, transition from the unlocked configuration to the locked configuration, When the locking mechanism is in the locked configuration, hold the fifth finger in the holding position, and In response to the fifth arm moving relative to the frame in an outward direction, transition from the locked configuration to the unlocked configuration; and Wherein the sixth locking mechanism is configured to: When the sixth locking mechanism is in the unlocked configuration, the sixth finger is allowed to rotate between the open position and the holding position, responsive to the rotation of the sixth finger to the holding position, transitioning from the unlocked configuration to the locked configuration, when the locking mechanism is in the locked configuration, holding the sixth finger in the holding position, and responsive to the movement of the sixth arm in the outward direction relative to the frame, transitioning from the locked configuration to the unlocked configuration.

20. The system according to claim 19, wherein, Each of the first pair of opposing arms, the second pair of opposing arms, and the third pair of opposing arms is capable of moving inwardly and outwardly independently of the others of the first pair of opposing arms, the second pair of opposing arms, and the third pair of opposing arms.

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