Robot system with gripping mechanism

Abstract

Customizing the pitch of the extendable gripping components and / or the total number of extendable gripping components operating at one time. [Solution] The object gripping assembly includes a first transport plate with a first mounting track extending along a first axis and two or more second transport plates movably carried by the first mounting track. Each second transport plate includes a second mounting track extending along at least a second axis and an extensible gripping component movably carried by the second mounting track. A first pitch adjustment component is operably coupled to the second transport plate to controllably vary the pitch of the second transport plate along the first mounting track. A second pitch adjustment component is operably coupled to the extensible gripping component on a corresponding second transport plate to controllably vary the pitch of the extensible gripping component along the second mounting track.

Description

Technical Field

[0001] Cross - reference to Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 63 / 136,207, filed on January 12, 2021, which is hereby incorporated by reference in its entirety.

[0002] This technology generally relates to robotic systems having gripping mechanisms, and more particularly to robotic systems having gripping mechanisms with controllable variable pitch.

Background Art

[0003] Due to performance improvements and cost reduction, many robots (e.g., machines configured to automatically / autonomously perform physical actions) have come to be widely used in many fields. For example, robots can be used to perform various tasks (e.g., manipulate or transfer objects through space) in manufacturing and / or assembly, packing and / or packaging, transportation and / or shipping, etc. When performing tasks, robots can reproduce human actions, so they can replace or reduce the human intervention that would normally be required to perform dangerous or repetitive tasks.

[0004] However, despite technological progress, robots often lack the advanced functions necessary to reproduce the human interactions required to perform larger scale and / or more complex tasks. Therefore, improved technologies and systems for managing the operations and / or interactions between robots are still needed.

Brief Description of the Drawings

[0005] [Figure 1] It is a diagram of an exemplary environment in which a robotic system having a gripping mechanism can operate according to some embodiments of the present technology. [Figure 2] It is a block diagram illustrating the robotic system of FIG. 1 according to some embodiments of the present technology. [Figure 3] This is a side view of a robot system having an object gripping assembly with a controllable variable pitch setting mechanism, according to some embodiments of the present technology. [Figure 4A] This is an isometric view of an object gripping assembly according to several embodiments of this technology. [Figure 4B] This is an isometric view of an object gripping assembly according to several embodiments of this technology. [Figure 5] This is an isometric view of a pitch adjustment component according to several embodiments of this technology. [Figure 6] This is an isometric view of the stopping mechanism of a pitch adjustment component according to several embodiments of this technology. [Figure 7] This is an isometric view of the stopping mechanism of a pitch adjustment component according to several embodiments of this technology. [Figure 8A] These are isometric views of pitch adjustment components at various pitch settings according to several embodiments of this technology. [Figure 8B] These are isometric views of pitch adjustment components at various pitch settings according to several embodiments of this technology. [Figure 9] These are isometric views of object gripping assemblies with various operating parameters according to several embodiments of this technology. [Figure 10] These are isometric views of object gripping assemblies with various operating parameters according to several embodiments of this technology. [Figure 11] These are isometric views of object gripping assemblies with various operating parameters according to several embodiments of this technology. [Figure 12] This is a flowchart of the process for operating an object gripping assembly with various operating parameters according to several embodiments of this technology. [Figure 13] This is a flowchart of the process for setting the minimum and / or maximum operating settings of an object gripping assembly according to some embodiments of this technology.

[0006] The drawings are not necessarily drawn to a fixed scale. Similarly, some components and / or operations may be separated into different blocks or combined into a single block for the purpose of describing some implementations of the present technology. Furthermore, while the present invention can accommodate various modifications and alternative forms, specific implementations are shown in the drawings as examples and are described in detail below. However, the intention is not to limit the technology to the specific implementations described. On the contrary, the present technology is intended to encompass all modifications, equivalents, and alternatives that fall within the scope of the present technology as defined by the appended claims. [Modes for carrying out the invention]

[0007] overview A variable-pitch object gripping assembly and a method for operating it are disclosed herein. In some embodiments, the object gripping assembly includes a first transport plate having a top and a bottom surface. The top surface may include a flange configured to connect to a robot arm or other suitable positioning mechanism, and the bottom surface may include one or more first mounting tracks extending along a first axis (e.g., in the x-direction). The first mounting track(s) may slidably carry a plurality of second transport plates. Each second transport plate may include one or more second mounting tracks extending along a second axis (e.g., in the y-direction) at least partially orthogonal to the first axis. A plurality of extendable gripping components are slidably carried by the second mounting track(s). The first transport plate may also carry a first pitch adjustment plate operably coupled to the second transport plate. The position of the first pitch adjustment plate controls the pitch of the second transport plate along the first axis. Therefore, the movement of the first pitch adjustment plate controls the pitch of multiple second transport plates. In addition, or alternatively, each second transport plate can carry multiple second pitch adjustment plates operably coupled to an extendable gripping component on the corresponding second transport plate. The position of the second pitch adjustment plates controls the pitch of the extendable gripping component on the second axis. Therefore, the movement of the second pitch adjustment plates controls the pitch of the extendable gripping component.

[0008] In some embodiments, the object gripping assembly includes a first expandable component operably coupled between a first pitch adjustment plate and a first transport plate. When the first expandable component expands (or contracts), it adjusts the position of the first pitch adjustment plate relative to the first transport plate. Thus, the expansion (or contraction) of the first expandable component can controllably adjust the pitch of the second transport plate along a first axis.

[0009] Similarly, in some embodiments, the object gripping assembly includes a plurality of second expandable components operably coupled between a corresponding second pitch adjustment plate and a second transport plate. When the second expandable components expand (or contract), they adjust the position of the second pitch adjustment plate relative to the second transport plate. Thus, the extension (or contraction) of the second expandable components can controllably adjust the pitch of the expandable gripping components along the second axis. In some such embodiments, each of the second transport plates includes one or more vertical mounting tracks extending along a vertical axis (e.g., the z-direction) at least partially orthogonal to both the first and second axes. The second pitch adjustment plate can be slidably transported by the vertical mounting tracks on the corresponding second transport plate at the position set by the second expandable component.

[0010] In some embodiments, one or more of the second transport plates include one or more stopper components that are movable between an engaged position and a released position. In the engaged position, the stopper components prevent the corresponding second pitch adjustment plate from moving beyond a predetermined position due to the position of the stopper components. By preventing movement beyond the predetermined position, the stopper components can set the minimum and / or maximum pitch of the extendable gripping component. In some embodiments, the predetermined position can be adjusted as needed (e.g., before, during, or after engaging the stopper components) to easily adjust the minimum and / or maximum pitch. In some embodiments, one or more of the second transport plates include two stopper components, the first stopper component setting the maximum pitch of the extendable gripping component and the second stopper setting the minimum pitch.

[0011] In various embodiments, each extendable gripping component may include gripping components such as suction elements, vacuum ports, magnetic components, pneumatic grippers, robotic grippers, and / or other arbitrary suitable components. In some embodiments, a first subset of extendable gripping components has a first gripping component (e.g., a suction element), while a second subset of extendable gripping components has a second gripping component (e.g., a magnetic element). Furthermore, in some embodiments, each extendable gripping component is independently extendable and / or operable to grip and release an object, allowing any subset of extendable gripping components to operate at a given time. As a result, the object gripping assembly can customize the pitch of the extendable gripping components and / or the total number of extendable gripping components that operate at one time.

[0012] For ease of reference, object gripping assemblies may be described herein with reference to the top and bottom, upper and lower, upward and downward, xy direction, z direction, horizontal plane, or vertical plane with respect to the spatial orientation of the embodiments shown in the drawings. However, it should be understood that object gripping assemblies can be moved to different spatial orientations and used therein without changing the structure and / or function of the embodiments disclosed in this Art.

[0013] Furthermore, for clarity, some details describing structures or processes that are well known and often associated with robotic systems and subsystems, and which could unnecessarily obscure some important aspects of the disclosed technology, are omitted from the following description. Additionally, while the following disclosure shows several embodiments of different aspects of the technology, some other embodiments may have different configurations or components than those described in this section. Therefore, the disclosed technology may have other embodiments that have additional elements or do not have some of the elements described below.

[0014] Many embodiments or aspects of the Disclosure described below can take the form of computer-executable instructions or controller-executable instructions, which include routines executed by a programmable computer or controller. Those skilled in the art will understand that the disclosed technology can be implemented on computer or controller systems other than those shown and described below. The technology described herein can be embodied in a dedicated computer or data processor that is specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions described below. Thus, the terms “computer” and “controller” as used herein refer to any data processor, and may include Internet devices and handheld devices, such as palmtop computers, wearable computers, mobile phones or mobile phones, multiprocessor systems, processor-based or programmable consumer electronics, network computers, and minicomputers. Information processed by these computers and controllers can be displayed on any suitable display medium, including liquid crystal displays (LCDs). Instructions for executing computer-executable tasks or controller-executable tasks can be stored on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. The instructions can be contained in any suitable memory device, including, for example, a flash drive, a USB device, and / or other suitable media.

[0015] The terms "coupled" and "connected," along with their derivatives, can be used herein to describe the structural relationships between components. It should be understood that these terms are not intended to be synonymous with each other. Rather, in certain embodiments, "connected" can be used to indicate that two or more elements are in direct contact with each other. Unless the context clearly indicates otherwise, the term "coupled" can be used to indicate that two or more elements are in contact with each other directly or indirectly (with other intervening elements between them), that two or more elements are in cooperation or interaction with each other (such as in a causal relationship like signal transmission / reception or function calls), or both. Exemplary Environment of a Robot System

[0016] FIG. 1 illustratively shows an environment in which a robot system 100 having an object handling mechanism can operate. The operating environment of the robot system 100 can include one or more structures such as a robot or a robot device configured to execute one or more tasks. Aspects of the object handling mechanism can be implemented or realized by various structures and / or components.

[0017] In the example shown in FIG. 1, the robotic system 100 can include a unloading unit 102, a transfer unit 104, a conveying unit 106, a loading unit 108, or a combination thereof, in a warehouse, a distribution center, or a transfer hub. Each unit of the robotic system 100 can be configured to perform one or more tasks. To achieve the goal, such as unloading an object from a vehicle such as a truck, a trailer, a van, or a train for storage in a warehouse, or unloading an object from a storage location and loading it onto a vehicle for shipping, the tasks can be combined in sequence. In another example, the task can include moving an object from one location to another, such as from a container, a bin, a cage, a basket, a shelf, a platform, a pallet, or a conveyor belt. Each unit can be configured to perform a series of operations, such as operating one or more components therein, to perform the task.

[0018] In some embodiments, the task can include an interaction with the target object 112, such as manipulation, movement, reorientation, or a combination thereof, of the object. The target object 112 is an object processed by the robotic system 100. More specifically, the target object 112 can be a specific object among many objects that are the target of the operations or tasks by the robotic system 100. For example, the target object 112 can be an object selected by the robotic system 100, or an object that is currently being processed, manipulated, moved, reoriented, or a combination thereof. The target object 112 can include, by way of example, a box, a case, a tube, a package, a bundle, a pack of individual items, or any other object that can be processed by the robotic system 100.

[0019] As an example, the task may include transporting the object 112 from the object source 114 to the task location 116. The object source 114 is a storage facility for storing objects. The object source 114 can have a number of configurations and forms. For example, the object source 114 may be a platform on which objects can be placed or stacked, such as a pallet, shelf, or conveyor belt, with or without walls. As another example, the object source 114 may be a partially or fully enclosed storage facility with walls or a lid on which objects such as bins, cages, or baskets can be placed. In some embodiments, the walls of the partially or fully enclosed object source 114 may be transparent or may include openings or gaps of varying sizes so that some of the objects contained therein are visible through the walls or partially visible.

[0020] Figure 1 shows examples of possible functions and operations that various units of the robot system 100 can perform when processing the object 112, and it should be understood that the environment and conditions may differ from those described below. For example, the unloading unit 102 may be a vehicle unloading robot configured to transfer the object 112 from a location inside a transport vehicle, such as a truck, to a location on a conveyor belt. Alternatively, a transfer unit 104, such as a palletizing robot, may be configured to transfer the object 112 from a location on a conveyor belt to a location on a transport unit 106, for example, to load the object 112 onto a pallet on the transport unit 106. In another example, the transfer unit 104 may be a piece-picking robot configured to transfer the object 112 from one container to another. Once the operation is complete, the transport unit 106 can move the object 112 from the range associated with the transfer unit 104 to the range associated with the loading unit 108, and the loading unit 108 can move the object 112 from the transfer unit 104 to a storage location such as on a shelf by moving the pallet on which the object 112 is placed. Further details regarding the task and related actions are described below.

[0021] For illustrative purposes, the robotic system 100 is described in the context of a distribution center, but it will be understood that the robotic system 100 can be configured to perform tasks in other environments, or for other purposes such as manufacturing, assembly, packaging, healthcare, or other types of automation. It will also be understood that the robotic system 100 can include other units not shown in Figure 1, such as manipulators, service robots, and modular robots. For example, in some embodiments, the robotic system 100 may include a depalletizing unit for transferring objects from a cage, cart, or pallet to a conveyor or other pallet; a container switching unit for transferring objects from one container to another; a packaging unit for packaging objects; a sorting unit for grouping objects according to one or more characteristics of the objects; and a piece picking unit for manipulating objects in different ways, such as sorting, grouping, and / or transporting objects according to one or more characteristics of the objects, or a combination thereof.

[0022] The robot system 100 may include a controller 109 configured to interface with and / or control one or more robot units. For example, the controller 109 may include circuitry (e.g., one or more processors, memory, etc.) configured to derive motion plans and / or corresponding commands, settings, etc., used to operate the corresponding robot units. The controller 109 can communicate motion plans, commands, settings, etc., to the robot units, which can then execute the communicated plans to accomplish corresponding tasks, such as transporting an object 112 from an object source 114 to a task location 116.

[0023] Suitable system Figure 2 is a block diagram showing a robot system 100 according to one or more embodiments of the present invention. In some embodiments, for example, the robot system 100 may include electronic devices, electrical devices, or combinations thereof, such as a control unit 202 (also referred herein as “processor 202”), a memory unit 204, a communication unit 206, a system input / output (I / O) device 208 having a system interface 210 (also referred herein as “user interface 210”), one or more actuator devices 212, one or more transport motors 214, one or more sensor units 216, or combinations thereof that are coupled to each other or integrated or coupled with one or more of the units or robots described in Figure 1 above, or combinations thereof.

[0024] The control unit 202 can be implemented in several different ways. For example, the control unit 202 may be a processor, an application-specific integrated circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The control unit 202 can execute software and / or instructions to provide intelligence to the robot system 100.

[0025] The control unit 202 is operably coupled to the user interface 210 so that the user can provide control over the control unit 202. The user interface 210 can be used for communication between the control unit 202 and other functional units within the robot system 100. The user interface 210 can also be used for communication outside the robot system 100. The user interface 210 can receive information from other functional units or external sources, or send information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0026] The user interface 210 can be implemented in different ways, and may include different implementations depending on which functional unit or external unit interfaces with the user interface 210. For example, the user interface 210 can be implemented as a pressure sensor, inertial sensor, micro-electromechanical system (MEMS), optical circuit, waveguide, wireless circuit, wired circuit, application programming interface, or a combination thereof.

[0027] The memory unit 204 can store software instructions, master data, tracking data, or a combination thereof. For illustrative purposes, the memory unit 204 is shown as a single element, but it is understood that the memory unit 204 can be a distribution of memory elements. Also, for illustrative purposes, the robot system 100 is shown with the memory unit 204 as a single-tier memory system, but it is understood that the robot system 100 can have memory unit 204 with different configurations. For example, the memory unit 204 can be made up of different memory technologies that form a memory tier system including different levels of caching, main memory, rotating media, or offline storage.

[0028] The storage unit 204 may be volatile memory, non-volatile memory, internal memory, external memory, or a combination thereof. For example, the storage unit 204 may be non-volatile storage such as non-volatile random access memory (NVRAM), flash memory, or disk storage, or volatile storage such as static random access memory (SRAM). As a further example, the storage unit 204 may be a non-temporary computer medium containing non-volatile memory such as a hard disk drive, NVRAM, solid-state storage device (SSD), compact disc (CD), digital video disc (DVD), or universal serial bus (USB) flash memory device. The software may be stored on a non-temporary computer-readable medium executed by the control unit 202.

[0029] The memory unit 204 can be operably coupled to the user interface 210. The user interface 210 can be used for communication between the memory unit 204 and other functional units within the robot system 100. The user interface 210 can also be used for communication outside the robot system 100. The user interface 210 can receive information from other functional units or external sources, or transmit information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0030] As described above, the user interface 210 may include different implementations depending on which functional unit or external unit interfaces with the storage unit 204. The user interface 210 can be implemented using the same techniques and methods as the implementation of the user interface 210 described above.

[0031] In some embodiments, a storage unit 204 is used to further store processing results, predetermined data, thresholds, or combinations thereof, and to provide access to them. For example, the storage unit 204 may store master data including descriptions of one or more target objects 112 (e.g., boxes, box types, cases, case types, products, and / or combinations thereof). In one embodiment, the master data includes dimensions, predetermined shapes, templates for potential poses and / or computer-generated models for recognizing different poses, color schemes, images, identification information (e.g., barcodes, quick response (QR) codes, logos, etc.), expected locations, expected weights, and / or combinations thereof of one or more target objects 112 that are expected to be manipulated by the robotic system 100.

[0032] In some embodiments, the master data includes operation-related information relating to one or more objects that may be encountered or processed by the robot system 100. For example, the operation-related information of an object may include one or more actions, the location of the center of gravity of each object corresponding to the operation, expected sensor measurements (e.g., for force, torque, pressure, and / or contact measurements) or a combination thereof.

[0033] The communication unit 206 can enable external communication with the robot system 100. For example, the communication unit 206 can enable the robot system 100 to communicate with other robot systems or units, external devices such as external computers, external databases, external machines, external peripherals, or combinations thereof via a communication path 218 such as a wired or wireless network.

[0034] The communication path 218 can span and represent various networks and network topologies. For example, the communication path 218 can include wireless communication, wired communication, optical communication, ultrasonic communication, or a combination thereof. For example, satellite communication, cellular communication, Bluetooth, Infrared Data Association Standard (IrDA), Wireless Fidelity (WiFi), and worldwide interoperability for microwave access (WiMAX) are examples of wireless communication that can be included in the communication path 218. Cable, Ethernet, digital subscriber line (DSL), fiber optic line, home fiber optic (FTTH), and public telephone service (POTS) are examples of wired communication that can be included in the communication path 218. Furthermore, the communication path 218 can traverse several network topologies and distances. For example, the communication path 218 can include direct connection, personal area network (PAN), local area network (LAN), metropolitan area network (MAN), wide area network (WAN), or a combination thereof. The robot system 100 can transmit information between various units via the communication path 218. For example, information can be transmitted between the control unit 202, the memory unit 204, the communication unit 206, the I / O device 208, the actuator device 212, the transport motor 214, the sensor unit 216, or a combination thereof.

[0035] The communication unit 206 can also function as a communication hub, enabling the robot system 100 to function as part of the communication path 218, and is not limited to being an endpoint or terminal unit to the communication path 218. The communication unit 206 may include active and passive components, such as microelectronics or antennas, to interact with the communication path 218.

[0036] The communication unit 206 may include a communication interface 248. The communication interface 248 can be used for communication between the communication unit 206 and other functional units within the robot system 100. The communication interface 248 can receive information from other functional units or external sources, or transmit information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robot system 100.

[0037] The communication interface 248 may include different implementations depending on which functional unit interfaces with the communication unit 206. The communication interface 248 can be implemented using the same techniques and methods as the implementation of the control interface 240.

[0038] I / O device 208 may include one or more input subdevices and / or one or more output subdevices. Examples of input devices for I / O device 208 may include a keypad, touchpad, soft keys, keyboard, microphone, sensor for receiving remote signals, camera for receiving motion commands, or any combination thereof for providing data and communication inputs. Examples of output devices may include a display interface. The display interface may be any graphical user interface such as a display, projector, video screen, and / or any combination thereof.

[0039] The control unit 202 can operate the I / O device 208 to present or receive information generated by the robot system 100. The control unit 202 can also execute software and / or instructions for other functions of the robot system 100. The control unit 202 can further execute software and / or instructions for interacting with the communication path 218 via the communication unit 206.

[0040] The robot system 100 may include physical or structural members, such as robotic manipulator arms, which are connected by joints for motion such as rotational displacement, translational displacement, or a combination thereof. The structural members and joints may form a kinetic chain configured to operate end effectors, such as gripping elements, which perform one or more tasks such as gripping, spinning, or welding, depending on the use or operation of the robot system 100. The robot system 100 may include actuation devices 212, such as motors, actuators, wires, artificial muscles, electroactive polymers, or a combination thereof, configured to drive, manipulate, displace, and / or reorient the structural members around or at corresponding joints. In some embodiments, the robot system 100 may include transport motors 214 configured to transport corresponding units to various locations.

[0041] The robot system 100 may include a sensor unit 216 configured to acquire information used to perform tasks and actions such as manipulating structural members or transporting robot units. The sensor unit 216 may include a device configured to detect or measure one or more physical characteristics of the robot system 100, such as information about the status, condition, location, objects or surrounding environment of one or more structural members or joints, or a combination thereof. As an example, the sensor unit 216 may include an imaging device, a system sensor, a contact sensor, and / or any combination thereof.

[0042] In some embodiments, the sensor unit 216 includes one or more imaging devices 222. The imaging devices 222 are devices configured to detect and image the surrounding environment. For example, the imaging devices 222 may include two-dimensional cameras, three-dimensional cameras, both of which may include combinations of visual and infrared capabilities, LiDAR, radar, other distance measuring devices, and other imaging devices. The imaging devices 222 can generate a representation of the detected environment, such as a digital image or point cloud, used to implement machine / computer vision for automated inspection, robot guidance, or other robotic applications. As will be described in more detail below, the robotic system 100 can process digital images, point clouds, or combinations thereof via the control unit 202 to identify the target object 112, the orientation of the target object 112, or combinations thereof in Figure 1. To manipulate the target object 112, the robotic system 100 can acquire and analyze images of a designated area, for example, inside a truck, inside a container, or where an object is picked up on a conveyor belt, to identify the target object 112 and its object source 114 in Figure 1. Similarly, the robot system 100 can capture and analyze images of another designated area, such as a descent location for placing an object on a conveyor belt, a location for placing an object inside a container, or a location on a pallet for stacking purposes, to identify the task location 116 in Figure 1.

[0043] In some embodiments, the sensor unit 216 may include a system sensor 224. The system sensor 224 can monitor robot units within the robot system 100. For example, the system sensor 224 may include a unit or device for detecting and monitoring the position of structural members such as robot arms and end effectors, corresponding joints of robot units, or combinations thereof. As a further example, the robot system 100 may use the system sensor 224 to track the location, orientation, or combination thereof of structural members and joints during task execution. Examples of system sensors 224 may include accelerometers, gyroscopes, or position encoders.

[0044] In some embodiments, the sensor system 216 may include contact sensors 226, such as pressure sensors, force sensors, strain gauges, piezoresistive / piezoelectric sensors, capacitance sensors, torque sensors, linear force sensors, other tactile sensors, and / or any other suitable sensors, configured to measure properties related to direct contact between multiple physical structures or surfaces. For example, the contact sensor 226 may measure properties corresponding to the gripping of an end effector on an object 112, or measure the weight of the object 112. Thus, the contact sensor 226 may output a contact measurement representing a quantified measurement, such as a measured force or torque, corresponding to the degree of contact or adhesion between the gripping element and the object 112. For example, the contact measurement may include one or more force or torque measurements related to the force applied to the object 112 by the end effector.

[0045] Suitable object gripping assembly with variable pitch mechanism Figure 3 is a side view of a robot unit 300 (for example, the picking unit of the robot system 100 in Figure 1, sometimes also called a robot subsystem) according to several embodiments of the present technology. In the illustrated embodiments, the robot system 100 includes a robot arm 310 and an end effector (for example, an object gripping assembly 320) attached to / carried by the robot arm 310. As shown in Figure 3, the robot arm 310 may include a first flange 312 and one or more joints 314 (three shown), while the object gripping assembly 320 includes a second flange 322 operably coupled to the first flange 312 of the robot arm 310. When coupled together, the first and second flanges 312, 322 can establish both a physical connection and one or more transmission connections (for example, an electrical connection, a fluid connection, or other suitable transmission connection). The physical connection allows the robot arm 310 to carry the object gripping assembly 320, while the transmission connection allows the object gripping assembly 320 to be controlled via the connection to the robot arm 310.

[0046] One or more joints 314 enable the robot arm 310 to controllly position the object gripping assembly 320 on and / or adjacent to the target object (e.g., the target object 112 in Figure 1). Once positioned, the object gripping assembly 320 can be operated to grip the target object. Next, one or more joints 314 also enable the robot arm 310 to controllly position the object gripping assembly 320 to move the target object between locations (e.g., between a pickup location and a drop-off location). Once the object gripping assembly 320 is positioned at the desired location, the object gripping assembly 320 can be operated to release the target object. The operation of the object gripping assembly 320 will be described in more detail below with reference to Figures 4A to 13.

[0047] Figures 4A and 4B are isometric views of an object gripping assembly according to several embodiments of the present technology. As shown, the object gripping assembly 320 may include a first transport plate 424, one or more second transport plates 430 (four are shown and individually labeled as second transport plates 430a to 430d) carried by the first transport plate 424, and two or more extendable gripping components 470 (for example, 36 in the illustrated embodiment, sometimes referred to as "extendable gripping elements") carried by the second transport plates 430.

[0048] As shown in Figure 4A, each second transport plate 430 (also referred herein as the “lower transport plate” and / or “vertical transport plate”) includes one or more vertical mounting tracks 432 (two of which are shown on the front second transport plate 430a) and one or more second mounting tracks 434 (one of which is shown on the front second transport plate 430a, and is also referred herein as the “second horizontal mounting track” and / or “horizontal mounting track”). Each extendable gripping component 470 includes a gripping component mounting element 472 (e.g., a ball bearing carriage, a ball bearing glide plate, a sliding carriage, a transducer carriage, etc.) that is movably transported by the second mounting track 434. The gripping component mounting elements 472 and the second mounting tracks 434 allow each extendable gripping component 470 to move (e.g., slide, adjust, etc.) along a first axis (e.g., the x-axis). Next, the position of each extendable gripping component 470 along the first axis can be controlled by a second transport plate 430 and a first pitch adjustment plate 440 (sometimes also called a first “adjustment plate”) operably coupled to each of the extendable gripping components 470 carried thereon (for example, resulting in four first pitch adjustment plates 440 in the illustrated embodiment). To do so, in the illustrated embodiment, each extendable gripping component 470 includes projections 473 (for example, bearings, rollers, low-friction elements, etc.), while the first pitch adjustment plate 440 includes pitch grooves 442 (sometimes referred to herein as “pitch slots” and “pitch tracks”) located in a first plane (for example, having components in the first axis and vertical axis and located in the xz plane). Each of the projections 473 engages with an individual pitch groove 442 such that the horizontal component of the pitch groove 442 controls the position of the projection 473 along the first axis when the first pitch adjustment plate 440 is moved along the vertical axis. As a result, the movement of the first pitch adjustment plate 440 along the vertical axis controls the position of each of the extendable gripping components 470 along the first axis.

[0049] Furthermore, to adjust the pitch of the extendable gripping components 470 along the first axis, the pitch groove 442 can have various inclinations, such as toward the central portion of the first pitch adjustment plate 440. A pitch groove with a steep inclination (e.g., a small x-component) results in less movement along the first axis. Conversely, a pitch groove with a shallow inclination (e.g., a large x-component) causes more movement along the first axis. Next, if the pitch groove 442 is positioned with an inclination that gradually decreases from the central portion toward the peripheral portion, the central extendable gripping components 470 move less than the peripheral extendable gripping components 470 when the first pitch adjustment plate 440 moves. As a result, the movement of the first pitch adjustment plate 440 adjusts the pitch of the extendable gripping components 470 along the first axis.

[0050] An example of adjusting the pitch of the extendable gripping components 470 is shown in Figures 4A and 4B. In the illustrated embodiment, the pitch groove 442 is oriented such that as the first pitch adjustment plate 440 moves downward between Figures 4A and 4B, the pitch of the extendable gripping components 470 decreases (for example, the distance between adjacent gripping components 470 increases). Conversely, when the first pitch adjustment plate 440 moves upward (for example, between the position in Figure 4B and the position in Figure 4A), the pitch of the extendable gripping components 470 increases (for example, the distance between adjacent gripping components 470 decreases). However, it will be understood that the pitch groove 442 can be oriented in the opposite way, such that the pitch of the extendable gripping components 470 decreases when the second pitch adjustment plate 450 moves upward and increases when the second pitch adjustment plate 450 moves downward.

[0051] To control the pitch adjustment of the extendable gripping components 470, the object gripping assembly 320 includes a function to control the vertical position of the first pitch adjustment plates 440. For example, in the illustrated embodiment, each of the first pitch adjustment plates 440 includes an adjustment plate mounting element 444 (e.g., a ball bearing carriage, a ball bearing glide plate, a sliding carriage, a transducer carriage, etc.) which is at least partially movably carried by each of the vertical mounting tracks 432 of the second transport plate 430. One or more first expandable components 462 are carried by each of the second transport plates 430 (e.g., one on each of the second transport plates 430). The first expandable components 462 are operably coupled between the second transport plate 430 and the corresponding first pitch adjustment plate 440 such that the expansion (or contraction) of the first expandable component 462 controls the vertical position of the first pitch adjustment plate 440. As a result, the extension (or contraction) of the first expandable component 462 controls the pitch of the expandable gripping component 470 along the first axis.

[0052] In various embodiments, the first expandable component 462 may include various hydraulic cylinders (e.g., gas, liquid, and / or other suitable hydraulics), hydraulic supports, spring supports, torsion-driven expansion components, screw jacks, telescopic elements, extension and contraction rods integrated with the outer housing, and the like. In some embodiments, the first expandable component 462 is controlled simultaneously, resulting in uniform pitch adjustment of the expandable gripping components 470 on each of the second transport plates 430. In some embodiments, the first expandable component 462 is independently controllable, allowing the pitch of the expandable gripping components 470 to vary between the second transport plates 430 (for example, the pitch of the expandable gripping components 470 on the front second transport plate 430a may differ from the pitch of the expandable gripping components 470 on the rear second transport plate 430b).

[0053] In the illustrated embodiment, each pitch groove 442 has a slightly curved inclination. The curved inclination allows for consistent and uniform adjustment of the pitch of the extendable gripping components 470. That is, the curved inclination can help maintain equal spacing between each of the extendable gripping components 470 as the first pitch adjustment plate 440 moves vertically. However, in various other embodiments, one or more pitch grooves 442 may have a linear inclination, resulting in constant adjustment of the gripping components mounted along the first axis for any movement of the first pitch adjustment plate 440 along the vertical axis.

[0054] In addition to controlling the pitch of the extendable gripping components 470 along the first axis, the object gripping assembly 320 includes the ability to control the pitch of the extendable gripping components 470 along a second axis (e.g., the y-axis) that is at least partially orthogonal to the first axis. For example, as further shown in Figures 4A and 4B, the first transport plate 424 (sometimes referred to as the “upper transport plate” and / or “horizontal transport plate”) has an upper surface 425a and a lower surface 425b opposite to the upper surface. The lower surface 425b may include one or more first mounting tracks 426 (two are shown, and sometimes referred to herein as the “first mounting track” and / or “first horizontal mounting track”) extending along the second axis, and the second transport plate 430 is movably transported by the first mounting tracks 426. For example, in the illustrated embodiment, each second transport plate 430 includes at least one transport plate mounting element 436 (e.g., a ball bearing carriage, a ball bearing glide plate, a sliding carriage, a transducer carriage, etc.) for each of the first mounting tracks 426 (e.g., two transport plate mounting elements 436 are shown). The transport plate mounting elements 436 and the first mounting tracks 426 allow each of the second transport plates 430 to move along the second axis (e.g., slide, adjust, etc.). The movement of the second transport plates 430 also moves the extendable gripping components 470 carried on it.

[0055] Furthermore, in the illustrated embodiment, the object gripping assembly includes one or more second pitch adjustment plates 450 (two are shown, one of which is labeled and may also be referred to as the second “adjustment plate,” the “second pitch adjustment component,” and / or the “adjustment component”), each operably coupled to the first transport plate 424 and the second transport plate 430 carried thereon. The second pitch adjustment plates 450 function similarly to the first pitch adjustment plate 440 to convert their vertical movement into horizontal adjustment of the second transport plate 430 along the second axis.

[0056] For example, as shown in the figure, each of the second transport plates 430 may include one or more projections 438 (e.g., one on each of the second pitch adjustment plates 450), and the second pitch adjustment plates 450 include pitch grooves 452 located in the second plane (e.g., having components in the second axis and the vertical axis and located in the yz plane). Each projection 438 engages with the individual pitch grooves 452 such that the horizontal component of the pitch grooves 452 controls the position of the projection 438 along the second axis when the second pitch adjustment plate 450 is moved along the vertical axis. As a result, the movement of the second pitch adjustment plates 450 along the vertical axis controls the position of each of the second transport plates 430 along the second axis.

[0057] Furthermore, as described above, the pitch groove 452 can have various inclinations (shown here as inclined toward the central portion of the second pitch adjustment plate 450) to adjust the pitch of the second transport plate 430 along the second axis. The pitch groove 452 can then be positioned with an inclination that gradually decreases from the central portion toward the peripheral portion. As a result, the central second transport plate 430 (e.g., the two central second transport plates) moves less than the peripheral second transport plates 430 (e.g., the front and rear second transport plates) when the second pitch adjustment plate 450 moves, thereby adjusting the pitch of the second transport plate 430. In the illustrated embodiment, the pitch groove 452 is oriented such that the pitch of the second transport plate 430 increases when the second pitch adjustment plate 450 moves upward and decreases when the second pitch adjustment plate 450 moves downward. However, it will be understood that the pitch groove 452 can be oriented in the opposite way, such that the pitch of the second transport plate 430 decreases when the second pitch adjustment plate 450 moves upward and increases when the second pitch adjustment plate 450 moves downward.

[0058] To control the pitch adjustment of the extendable gripping component 470 along a second axis, the object gripping assembly 320 may also include a function to control the vertical position of the second pitch adjustment plate 450. For example, in the illustrated embodiment, one or more second expandable components 464 are carried by the first transport plate 424 (e.g., one for each second pitch adjustment plate). The second expandable component 464 is operably coupled between the first transport plate 424 and the corresponding second pitch adjustment plate 450 such that the expansion (or contraction) of the second expandable component 464 controls the vertical position of the second pitch adjustment plate 450. As a result, the expansion (or contraction) of the second expandable component 464 controls the pitch of the second transport plate 430, and therefore the extendable gripping component 470, along the second axis.

[0059] As described above, each combination of the first expandable component 462, the first pitch adjustment plate 440, and the operational coupling between them can controllably adjust the pitch of the extendable gripping component 470. Therefore, each combination may be collectively referred to as the “first pitch adjustment mechanism” and / or the “first pitch adjustment component” that controls the pitch of the extendable gripping component 470 along the first axis. Similarly, the second pitch adjustment plate 450 and the second expandable component 464 described above may be collectively referred to as the “second pitch adjustment mechanism” and / or the “second pitch adjustment component” that controls the pitch of the second transport plate 430, and therefore the extendable gripping component 470 transported on it along the second axis.

[0060] As further shown in Figures 4A and 4B, each extendable gripping component 470 includes an expandable body 474 and a gripping element 476 located at the distal end of the expandable body 474. In various embodiments, the expandable body 474 may include various hydraulic cylinders (e.g., gas, liquid, and / or any other suitable hydraulic), hydraulic supports, spring supports, torsion-driven expansion components, screw jacks, telescopic elements, extension and retraction rods integrated with the outer housing, and / or any other expansion mechanisms. Furthermore, in various embodiments, the gripping element 476 may include suction elements, vacuum ports, magnetic components, pneumatic grippers, robotic grippers, and / or any other suitable elements.

[0061] The expandable body 474 drives the vertical movement (e.g., along the z-axis) of the gripping element 476, enabling the gripping element 476 to be controlledly raised and lowered. In some embodiments, each extendable gripping component 470 is independently controllable to extend and / or actuate, thereby allowing any suitable subset of the extendable gripping components 470 to operate at once. Purely as an example, the object gripping assembly 320 may omit rows and / or columns of the extendable gripping components 470 during operation if those rows and / or columns do not need to grip and / or transport the object in question.

[0062] To facilitate independent operation, the object gripping assembly 320 may include a plurality of onboard controllers 480 (e.g., electrical controllers, vacuum ejectors, solenoids, etc.) operably coupled to the extendable gripping component 470, as further shown in Figures 4A and 4B. In addition, or instead, the onboard controllers 480 may be operably coupled to each of the first and second extendable components 462, 464 to control their operation. In various embodiments, each of the onboard controllers 480 may be operably coupled to a centralized controller (e.g., controller 109 in Figure 1 with processor 202 in Figure 2) operably coupled to a centralized controller on the object gripping assembly 320 (not shown) and / or to a robotic system 100.

[0063] Figure 5 is an isometric view of a single second transport plate 430, showing additional details of the first pitch adjustment component of Figures 4A and 4B. In the embodiment shown in Figure 5, the second transport plate 430 includes two vertical mounting tracks 432 and one second mounting track 434. Furthermore, in the illustrated embodiment, nine extendable gripping components 470 are transported by the second mounting track 434. Each extendable gripping component 470 includes an individual gripping component mounting element 472 slidably coupled to the second mounting track 434. As a result, each of the extendable gripping components 470 can move along a first axis (e.g., along the x-axis), but its position is fixed along a vertical axis (e.g., the z-axis) and a second axis (e.g., the y-axis) with respect to the second transport plate 430.

[0064] In the illustrated embodiment, a single first pitch adjustment plate 440 is slidably carried by a vertical mounting track 432 via two adjustment plate mounting elements 444. As a result, the first pitch adjustment plate 440 can move along the vertical axis but is fixed in position along the first and second axes. The first pitch adjustment plate 440 includes nine pitch grooves 442, each operably coupled to a corresponding extendable gripping component 470. As described above, the changing inclination of the pitch grooves 442 adjusts the pitch of the extendable gripping component 470 as the first pitch adjustment plate 440 moves. In the illustrated embodiment, a single expandable component 462 is carried by a second transport plate 430 and operably coupled to the first pitch adjustment plate 440. The extension of the expandable component 462 moves the first pitch adjustment plate 440 along the vertical axis, thereby controlling the pitch of the extendable gripping component 470.

[0065] As further shown in Figure 5, the second transport plate 430 may include a stopping mechanism 540. In the illustrated embodiment, the stopping mechanism 540 includes a first stopper 542 and a second stopper 544. As will be described in more detail below with respect to Figures 6 and 7, the first stopper 542 can be used to prevent the first pitch adjustment plate 440 from moving beyond a predetermined position relative to the second transport plate 430. As a result, the first stopper 542 can set the maximum pitch of the extendable gripping component 470. Similarly, the second stopper 544 can be used to prevent the first pitch adjustment plate 440 from moving without moving beyond a predetermined position relative to the second transport plate 430. As a result, the second stopper 544 can set the minimum pitch of the extendable gripping component 470.

[0066] In some embodiments, the predetermined positions of the first and second stoppers 542, 544 are adjustable. As a result, the minimum and / or maximum pitch of the extendable gripping component 470 can be set according to the intended application. Purely as an example, the minimum pitch can be set to the first operating pitch and the maximum pitch can be set to the second operating pitch. The extendable gripping component 470 can then move quickly between the first and second operating pitches by rapidly lowering and raising the first pitch adjustment plate 440 within the first and second stoppers 542, 544. In various embodiments, the stopping mechanism 540 may include any other suitable number of stoppers (e.g., one stopper, two stoppers, five stoppers, ten stoppers, and / or any other suitable number). Furthermore, in various embodiments, one or more stoppers on the stopping mechanism 540 may have fixed positions. As a purely illustrative example, the stopping mechanism 540 may include 20 stoppers arranged to progressively adjust the pitch range of the extendable gripping component 470.

[0067] Figures 6 and 7 are isometric views of a stopping mechanism for a pitch adjustment component according to several embodiments of the present technology. In the illustrated embodiments, the stopping mechanism 540 includes a first stopper 542 and a second stopper 544 in fixed incremental positions to set the maximum or minimum pitch of the extendable gripping component 470 (Figure 5). As best shown in Figure 6, each of the first and second stoppers 542, 544 includes an adjustable slider 646 and a first engaging portion 648 that can move between an engaged position and a released position. The adjustable slider 646 allows the first and second stoppers 542, 544 to move from the engaged position to the released position. For example, in the embodiment shown in Figure 6, the second stopper 544 is in the engaged position such that the first engaging portion 648 of the second stopper 544 contacts the second engaging portion 649 carried by the first pitch adjustment plate 440, thereby preventing further upward movement of the first pitch adjustment plate 440. In the released position, the first and second engaging portions 648, 649 do not contact each other, allowing the first pitch adjustment plate 440 to move freely. As best shown in Figure 7, the adjustable slider 646 allows the first and second stoppers 542, 544 to be quickly switched between the engaged position (e.g., slid to the left end) and the released position (e.g., slid to the right end).

[0068] Figures 8A and 8B are isometric views of the first pitch adjustment component at various pitch settings according to several embodiments of the present technology. In the illustrated embodiments, the pitch groove 442 is inclined such that raising the first pitch adjustment plate 440 decreases the pitch of the extendable gripping component 470, and lowering the first pitch adjustment plate 440 increases the pitch. For example, as shown with respect to Figure 8A, when the extendable component 462 is fully retracted, the first pitch adjustment plate 440 rises to its maximum height relative to the second transport plate 430. As a result, the pitch of the extendable gripping component 470 is minimized, resulting in dense packing of the extendable gripping component 470. The illustrated configuration is useful, for example, for picking up multiple small, densely packed objects and / or relatively small, heavy objects (e.g., each requiring an extendable gripping component 470 to be safely lifted). As shown in Figure 8B, when the expandable component 462 is extended, the first pitch adjustment plate 440 is lowered relative to the second transport plate 430. As a result, the pitch of the expandable gripping component 470 increases, resulting in a less dense packing of the expandable gripping component 470 compared to Figure 8A. The illustrated configuration is useful, for example, for picking up multiple smaller objects and / or larger objects (for example, by separating the gripping positions over a larger area).

[0069] However, as described above, it will be understood that the inclination of the pitch groove 442 can be reversed such that raising the first pitch adjustment plate 440 increases the pitch of the extendable gripping component 470, and lowering the first pitch adjustment plate 440 decreases the pitch. Furthermore, it will be understood that the expandable component 462 can be coupled between the second transport plate 430 and the first pitch adjustment plate 440 at different positions such that the expansion of the expandable component 462 raises the first pitch adjustment plate 440 relative to the second transport plate 430 instead of lowering the first pitch adjustment plate 440.

[0070] A suitable method for operating an object gripping assembly. Figures 9 to 11 are isometric views of the object gripping assembly 320 at various operating parameters according to several embodiments of the present technology. At each of the illustrated operating parameters, the object gripping assembly 320 can be used to pick up, position, and / or transport multiple target objects 912, 1012, 1112 from a first location (e.g., the bed of a truck, a packing container, etc.) to a second location (e.g., on a conveyor belt, a second container, etc.) on the carriers 910, 1010, 1110.

[0071] In the embodiment shown in Figure 9, the object gripping assembly 320 includes 36 extendable gripping components 470, while the plurality of target objects 912 include 20 objects to be lifted from the carrier 910. Thus, the object gripping assembly 320 (or a controller communicating with it, e.g., the controller 109 in Figure 1 having the processor 202 in Figure 2) can determine a subset of the extendable gripping components 470 to operate, as well as a desired pitch for the subset of the extendable gripping components 470 in both the first and second axes. In the illustrated embodiment, the operating parameters include adjusting the pitch of the extendable gripping components 470 to a minimum pitch (or close to it) along the x-axis and to a maximum pitch (or close to it) along the y-axis. The operating parameters also include operating all other extendable gripping components 470 along the x-axis (e.g., all other extendable gripping components 470 along a given second transport plate 430). As a result of the operating parameters, a subset of 20 extendable gripping components 470 is sufficiently aligned to select multiple target objects 912 from the carrier 910. Therefore, as shown in the figure, only a subset of the extendable gripping components 470 is extended during operation.

[0072] However, it will be understood that the illustrated operating parameters are merely examples of operating parameters suitable for multiple target objects 912. In various embodiments, the range of possible pitches of the extendable gripping components 470 can vary, allowing (or requiring) adjustment of alternative pitches. Furthermore, multiple pitches may allow a suitable subset of the extendable gripping components 470 to align with multiple target objects 912. Moreover, it will be understood that the object gripping assembly 320 can include any other suitable number of extendable gripping components 470, each addressed by operating parameters. For example, the object gripping assembly 320 may include 2, 3, 4, 5, 10, 50, 100, 1000, or any other suitable number of extendable gripping components 470, each addressed by operating parameters.

[0073] Furthermore, in the embodiment shown in Figure 9, each of the extendable gripping components 470 may include an outer housing 972, an extendable rod 974 protruding from the outer housing 972 by a controllable distance, and a suction element 976 carried by the distal end of the extendable rod 974. The position of the extendable rod 974 can be controlled by any suitable hydraulic, screw mechanism, and / or any other suitable mechanism. In addition, each extendable rod 974 may be positioned to fluidly connect the corresponding suction element 976 to an actuator on the object gripping assembly 320 to control the gripping of the suction element 976. However, as described above, the extendable gripping components 470 may include various other hydraulic cylinders (e.g., gas, liquid, and / or any other suitable hydraulic), hydraulic supports, spring supports, torsion-driven extension components, screw jacks, and / or telescopic elements that can move the gripping element along a vertical axis. Similarly, as described above, the gripping element may include another suction element, vacuum port, magnetic component, pneumatic gripper, robotic gripper, and / or any other suitable element.

[0074] In the embodiment shown in Figure 10, the object gripping assembly 320 includes 36 extendable gripping components 470, and the plurality of target objects 1012 includes 36 objects. Furthermore, the carrier 1010 consists of a higher density packing of the plurality of target objects 1012. The object gripping assembly 320 (or a controller communicating with it, e.g., the controller 109 in Figure 1 having the processor 202 in Figure 2) can determine a subset of the extendable gripping components 470 to be operated, as well as a desired pitch for the subset of the extendable gripping components 470 in both the first and second axes. As shown in Figure 10, the subset of the extendable gripping components 470 may include the entirety of the extendable gripping components 470.

[0075] In the illustrated embodiment, the operating parameters include adjusting the pitch of the extendable gripping components 470 to a central range pitch along the x-axis (or close to it) and to a minimum pitch along the y-axis (or close to it). The operating parameters also include operating all extendable gripping components 470 on the object gripping assembly 320. As a result of the operating parameters, each extendable gripping component 470 is sufficiently aligned to select the corresponding target object from the carrier 1010. Thus, as shown in the illustration, all of the extendable gripping components 470 on the object gripping assembly 320 operate simultaneously.

[0076] In the embodiment shown in Figure 11, the object gripping assembly 320 includes 36 extendable gripping components 470, while the plurality of target objects 1112 include 32 objects to be selected from the carrier 1110. The object gripping assembly 320 (or a controller communicating with it, e.g., the controller in Figure 1 having the processor 202 in Figure 2) can determine a subset of the extendable gripping components 470 to be operated, as well as a desired pitch for the subset of the extendable gripping components 470 in both the first and second axes.

[0077] In the illustrated embodiment, the operating parameters include adjusting the pitch of the extendable gripping components 470 to the maximum pitch along the x-axis (or close to it) and to the minimum pitch along the y-axis (or close to it). The operating parameters also include omitting a single extendable gripping component 470 from each longitudinal end of the second transport plate 430. As a result of the operating parameters, a subset of 32 extendable gripping components 470 is sufficiently aligned to select the corresponding object from the carrier 1110. Then, as shown in the illustration, only the subset of extendable gripping components 470 is extended during operation.

[0078] Figure 12 is a flowchart of process 1200 for operating an object gripping assembly (e.g., object gripping assembly 320 in Figure 3) with various operating parameters according to several embodiments of the present technology. Process 1200 can be executed by the controller of the object gripping assembly itself (e.g., one of the onboard controllers 480 above with respect to Figure 4) and / or by an external controller (e.g., controller 109 in Figure 1 having processor 202 in Figure 2).

[0079] Process 1200 begins in block 1202 by determining which extendable gripping components to operate. In some embodiments, the decision is based on images and / or scans of one or more object and / or carriers. In some embodiments, the decision is based on information received regarding one or more object and / or carriers (e.g., weight of object(s), distribution of object(s), surface texture of object(s), or other information that may affect the gripping elements, and / or other relevant information). In some embodiments, the decision includes planning multiple passes and determining which extendable gripping components to operate in each pass.

[0080] In block 1204, process 1200 includes determining a desired pitch for an extendable gripping component that is being operated in a first direction (e.g., along a first axis such as the x-axis or y-axis). As described above, the pitch in the first direction can be determined based on images, scans, and / or any other information received with respect to one or more objects and / or carriers. Furthermore, in some embodiments, the pitch is determined at least in part on the decision of which extendable gripping components to operate. For example, the pitch can be determined at least in part on the decision to operate only a subset of the extendable gripping components. In another example, the determination of the pitch and the decision of which extendable gripping components to operate can be performed simultaneously (e.g., the decision of which extendable gripping components to operate can be based in part on which pitches are available to different subsets of the extendable gripping components). In some embodiments, process 1200 includes independently determining a desired pitch for the extendable gripping components on each of the second transport plates (for example, the extendable gripping components on the front transport plate may have a smaller pitch than the extendable gripping components on the rear transport plate).

[0081] In block 1206, process 1200 includes contracting or extending one or more first expandable components (e.g., the first expandable component 462 in Figure 4A) to set the pitch of the expandable gripping component to a desired pitch (or near it) in a first direction. In some embodiments, the pitch is monitored by an imaging component and / or other sensors. In some such embodiments, the first expandable component is expanded (or contracted) until the desired pitch is obtained. In some embodiments, the relationship between the state of the first expandable component and the pitch is known, and the expandable component is expanded (or contracted) without monitoring until the desired pitch is obtained.

[0082] In block 1208, process 1200 includes determining a desired pitch of the extendable gripping components in a second direction that is at least partially orthogonal to the first direction (e.g., along a second axis such as the y-axis or x-axis). Similar to determining the pitch in the first direction, determining the pitch in the second direction may be based on images, scans, and / or any other information received with respect to one or more objects and / or carriers. Furthermore, in some embodiments, determining the pitch is at least partially based on a decision to operate which extendable gripping components (e.g., at least partially based on a decision to operate only a subset of the extendable gripping components, which is made concurrently with a decision on which subset of the extendable gripping components to operate).

[0083] In block 1210, process 1200 includes contracting or extending one or more second expandable components (e.g., the second expandable component 464 in Figure 4A) to set the pitch of the expandable gripping component to a desired pitch (or near it) in a second direction. As described above, in some embodiments, the pitch is monitored by an imaging component and / or other sensors. In some such embodiments, the first expandable component is expanded (or contracted) until the desired pitch is obtained. In some embodiments, the relationship between the state of the first expandable component and the pitch is known, and the expandable component is expanded (or contracted) without monitoring until the desired pitch is obtained.

[0084] In block 1212, process 1200 includes operating extendable gripping components at a set pitch. That is, in block 1212, process 1200 includes extending and / or operating a subset of extendable gripping components that the process has decided to operate in block 1202 to pick up, place and / or transport one or more target objects.

[0085] Each of the extendable gripping components can be actuated to independently grip and / or release an object, so that a subset of the object gripped by the extendable gripping components can be selectively released at the destination. For example, process 1200 can extend a first subset of extendable gripping components at a set pitch and actuate the first subset to pick up an object at a pickup position. Then, process 1200 can actuate second, third, fourth, and so on subsets to selectively release an object at one or more drop-off positions. In another example, process 1200 can extend a first subset of extendable gripping components at a set pitch and actuate the first subset to pick up an object at a first pickup position, then actuate a second subset of extendable gripping components at a set pitch and actuate the second subset to pick up an object at a second pickup position. In some embodiments, the pitch is not adjusted between the two picking positions. In other embodiments, the pitch is adjusted between two picking positions, allowing process 1200 to tune to multiple pitches in a single operation. In some embodiments, each of two sets of desired pitches is determined in blocks 1204 and 1208, and as a result, process 1200 can then re-execute blocks 1206 and 1210 without further determination for pitch adjustment. In some embodiments, process 1200 re-executes blocks 1204-1210 between a first and second picking position.

[0086] In some embodiments, selective operation allows the object gripping assembly 320 (Figure 3) to be used as a buffer for temporarily holding a subset of target objects. For example, the robot system may receive a command to select different target objects and place combinations of different target objects as a group at two or more different drop locations. In another example, the robot system may receive a command to select target objects and place combinations of target objects in sequence, allowing another component of the robot system to pick up and / or otherwise move the selected subset of target objects before another subset is placed without requiring the object gripping assembly 320 (Figure 3) to perform multiple picking operations.

[0087] It will be understood that in some embodiments, one or more of blocks 1202-1210 can be combined, executed in different orders, and / or omitted entirely. Purely as an example, determining which extendable gripping components to operate may include determining desired pitches in the first and / or second directions. That is, determining which extendable gripping components to operate may include determining what pitch the operating extendable gripping components should be at. Thus, in such embodiments, process 1200 can omit blocks 1204 and 1208 to avoid redundant decisions. In another example, the process can execute blocks 1208 and 1210 before blocks 1204 and 1206, and / or block 1208 before block 1206. In yet another example, blocks 1204 and 1208 can be executed simultaneously and / or in parallel to simultaneously determine the desired pitches of the extendable gripping components in the first and second directions. Similarly, blocks 1206 and 1210 can be executed simultaneously and / or in parallel to set the pitch of the extendable gripping component to (or near) a desired pitch simultaneously in the first and second directions.

[0088] Figure 13 is a flowchart of process 1300 for setting the minimum and / or maximum pitch parameters of an object gripping assembly according to some embodiments of the present technology. Similar to process 1200 with respect to Figure 12, process 1300 can be performed by a controller of the object gripping assembly itself (e.g., one of the onboard controllers 480 described above with respect to Figure 4) and / or by an external controller (e.g., controller 109 in Figure 1 having processor 202 in Figure 2). Process 1300 is discussed herein with reference to one or more second expandable components 464 discussed above with respect to Figure 4. As described above, the second expandable component(s) is operably coupled to the second transport plate to set the pitch of the second transport plate. However, it will be understood that the minimum and / or maximum pitch parameters of an expandable gripping component on any given second transport plate can be set by following a similar process with respect to the first expandable component(s).

[0089] Process 1300 begins at block 1302 by expanding the second expandable component(s) within a desired range. As a result, the pitch of the second transport plate is reduced to a value smaller than the desired maximum pitch. In some embodiments, the second expandable component(s) are already within a desired range, allowing process 1300 to skip block 1302.

[0090] In block 1304, process 1300 includes setting a first stop mechanism to an engaged position to prevent a second expandable component(s) from contracting beyond a first desired point, thereby preventing the actual pitch from increasing beyond a desired maximum value. In some embodiments, the desired maximum value may represent the larger of two or more operating pitches. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the pitch to a larger operating pitch by preventing the second expandable component(s) from contracting beyond a first desired point. For example, the second expandable component(s) can be quickly contracted and stopped by the first stop mechanism without requiring careful contraction and precise stopping.

[0091] In block 1306, process 1300 includes contracting a second expandable component(s) within a desired range of expandable components. As a result, the pitch of the second transport plate increases to be greater than the minimum pitch. In some embodiments, the second expandable component(s) is already within a desired range, allowing process 1300 to skip block 1306.

[0092] In block 1308, process 1300 includes setting a second stop mechanism to an engaged position to prevent the second expandable component(s) from expanding beyond a second desired point, thereby preventing the actual pitch from decreasing beyond a desired minimum. In some embodiments, the desired minimum can represent the smaller of two or more operating pitches. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the pitch to a smaller operating pitch by preventing the second expandable component(s) from expanding beyond a second desired point. For example, the expandable component can be quickly retracted and stopped by the second stop mechanism without requiring careful retraction and precise stopping.

[0093] In block 1310, process 1300 includes operating the object gripping assembly within a desired range. As described above, during operation, the first and second stop mechanisms prevent movement of the second expandable component(s), thereby allowing the object gripping assembly to rapidly switch between minimum and maximum. In certain non-limiting examples, the object gripping assembly may have two operating pitches for a particular project. The first desired point may correspond to the larger of the two operating pitches, and the second first desired point may correspond to the smaller of the two operating pitches. In such embodiments, the first and second stop mechanisms can accelerate the operation of the object gripping assembly by allowing it to rapidly toggle between the two operating pitches (for example, by eliminating the need for a slow adjustment process for each change or by accelerating that process). The first and second stop mechanisms can also prevent the pitch from increasing (or decreasing) beyond a desired point based on spatial constraints. As a purely illustrative example, the maximum pitch can be set to prevent the pitch from encroaching on the spatial limits of the carrier.

[0094] Furthermore, as described above, each extendable gripping component can be operated independently, and by extending and / or operating the extendable gripping components, the target object can be independently gripped and / or released. As a result, a subset of the target object gripped by the extendable gripping components can be selectively released at any given destination, and / or any subset of the extendable gripping components can be operated at a given pickup position to pick up the target object.

[0095] In block 1312, process 1300 includes setting the first and second stop mechanisms to the release position and / or resetting the first and second stop mechanisms. Once moved to the release position, the first and second stop mechanisms do not obstruct the movement of the second expandable component(s), thereby returning the second expandable component(s) to its full range of motion.

[0096] It will be understood that in some embodiments, one or more of blocks 1302-1310 can be combined, executed in different orders, and / or omitted entirely. Purely as an example, if the second expandable component(s) are already within the desired range, either block 1302 or 1306 can be omitted, as described above. In another example, process 1300 may include setting only a single stop mechanism (e.g., setting the maximum pitch based on spatial requirements), and therefore blocks 1306 and 1308 can be omitted. In yet another example, if the second expandable component(s) are already within the desired range, the process may combine blocks 1304 and 1308 to set the first and second stop mechanisms simultaneously. And in yet another example, process 1300 may execute blocks 1306 and 1308 before blocks 1302 and 1304 to engage the second stop mechanism before engaging the first stop mechanism.

[0097] example This technology will be described, for example, according to various embodiments. These various examples of embodiments of this technology are, for convenience, numbered examples (1, 2, 3, etc.). These are provided as examples and are not limiting to this technology. Note that any of the dependent examples can be combined in any appropriate manner and placed within their respective independent examples. Other examples can be presented in a similar manner.

[0098] Example 1 The first transport plate, An upper surface including a flange configured to connect to a robot arm, The lower surface opposite to the upper surface, which includes at least one first mounting track extending along the first axis of the lower surface, The first transport plate having, A plurality of second transport plates, each of which is slidably transported by at least one first mounting track on the first transport plate, At least one second mounting track extending along a second axis that is at least partially perpendicular to the first axis, A plurality of extendable gripping components slidably transported by at least one second mounting track and things that include, A first adjustment plate operably coupled to the plurality of second transport plates and adjusting the pitch of the plurality of second transport plates on the first axis, Including multiple second adjustment plates, An object gripping assembly in which each of the plurality of second adjustment plates is carried by a corresponding second transport plate and operably coupled to the plurality of extendable gripping components on the corresponding second transport plate to adjust the pitch of the plurality of extendable gripping components on the second axis.

[0099] Example 2 The object gripping assembly according to Example 1, further comprising an expandable component operably coupled to the first adjustment plate and the first transport plate for adjusting the position of the first adjustment plate relative to the first transport plate.

[0100] Example 3 An object gripping assembly according to Example 2, wherein adjusting the position of the first adjustment plate relative to the first transport plate changes the pitch of the plurality of second transport plates along the first axis.

[0101] Example 4 Each of the plurality of second transport plates further includes at least one vertical mounting track extending along a vertical axis that is at least partially perpendicular to both the first axis and the second axis. Each of the plurality of second adjustment plates is slidably transported by the at least one vertical mounting track on the corresponding second transport plate. The object gripping assembly further comprises a plurality of expandable components, Each of the plurality of expandable components is operably coupled to the corresponding second adjustment plate and the corresponding second transport plate in order to adjust the position of the corresponding second adjustment plate relative to the corresponding second transport plate. An object gripping assembly as described in any of Examples 1-3.

[0102] Example 5 The object gripping assembly according to Example 4, wherein adjusting the position of the corresponding second adjustment plate relative to the corresponding second transport plate changes the pitch of the plurality of extendable gripping components along the second axis.

[0103] Example 6 Each of the plurality of second transport plates further includes a slide stopper that is movable between an engaged position and a released position, In the engagement position, the slide stopper prevents the corresponding second adjustment plate from moving beyond a predetermined position, as described in any of Examples 1 to 5.

[0104] Example 7 Each of the plurality of extendable gripping components is An extendable assembly having a proximal end slidably carried by at least one second mounting track and a distal end opposite to the proximal end, A gripping element carried by the distal end, The object gripping assembly according to any one of Examples 1 to 6, wherein the extendable assembly is configured to extend and contract along a vertical axis that is at least partially orthogonal to both the first axis and the second axis.

[0105] Example 8 An object gripping assembly according to any one of Examples 1 to 7, wherein each of the plurality of extendable gripping components is independently extendable.

[0106] Example 9 An object gripping assembly according to any one of Examples 1 to 8, wherein one or more of the plurality of extendable gripping components include a distal end and a gripping element located at the distal end, the gripping element including one or more of a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a robotic gripper.

[0107] Example 10 A method for operating an object gripping assembly having multiple independently operable gripping components, Determining the set of the plurality of gripping components to be operated during the gripping operation, Determining a first desired pitch of the set of the plurality of gripping components along the first axis, Determining a second desired pitch of the set of the plurality of gripping components along a second axis that is at least partially orthogonal to the first axis, The method involves generating a command to operate a first expandable component along a third axis that is at least partially orthogonal to both the first axis and the second axis, wherein operating the first expandable component involves adjusting the first actual pitch of at least some of the set of the plurality of gripping components along the first axis toward a first desired pitch. The process involves generating a command to operate a second expandable component along the third axis, wherein operating the second expandable component involves adjusting the second actual pitch of the set of the plurality of gripping components along the first axis toward the first desired pitch. Methods that include...

[0108] Example 11 The method according to Example 10, wherein each of the plurality of gripping components includes an expandable body, and the method further comprises generating a command to extend the expandable body for each of the gripping components in the set of the plurality of gripping components.

[0109] Example 12 The gripping operation is a first gripping operation, the set of the plurality of gripping components is a first set, and the method further Determining a second set of the plurality of gripping components to be operated during the second gripping operation, Determining a third desired pitch of the second set of the plurality of gripping components along the first axis, Determining a fourth desired pitch of the second set of the plurality of gripping components along the second axis, To generate commands to further operate the first expandable component along the third axis, wherein further operating the first expandable component involves adjusting the third actual pitch of at least some of the second set of the plurality of gripping components along the first axis toward a third desired pitch. The method involves generating commands to further operate the second expandable component along the third axis, wherein further operating the second expandable component involves adjusting the fourth actual pitch of the second set of the plurality of gripping components along the first axis toward the fourth desired pitch. The method described in any of Examples 10-11, including the method described in any of Examples 10-11.

[0110] Example 13 The method according to Example 12, wherein determining the second set of the plurality of gripping components includes determining a second set of the plurality of gripping components that is different from the first set of the plurality of gripping components.

[0111] Example 14 To generate a command to lower the set of the plurality of gripping components toward one or more objects to be moved, To generate a command to operate the set of the plurality of gripping components and attach them to one or more objects, While attached to one or more of the aforementioned objects, the set of the plurality of gripping components is raised. The method described in any of Examples 10-13, further including the method described in any of Examples 10-13.

[0112] Example 15 The method according to any one of Examples 10 to 14, further comprising generating a command to position a sliding stopper to prevent the first expandable component from expanding beyond a predetermined position before operating the first expandable component along the third axis.

[0113] Example 16 It is a robotic system, A robotic arm and The robot arm carries an object gripping assembly, The object gripping assembly is A first transport plate having a first mounting track extending along a first axis, Two or more second transport plates, which are movable and transported by the first attachment truck, each of the two or more second transport plates is A second mounting track extending along a second axis that is at least partially perpendicular to the first axis, Two or more extendable gripping components that are movable and transported by the second mounting track on the second transport plate and things that include, A first pitch adjustment component operably coupled to the first transport plate and the two or more second transport plates, configured to controllably change the first pitch between the two or more second transport plates along the first mounting track, Two or more second pitch adjustment components operably coupled to a corresponding second transport plate, wherein the two or more extendable gripping components are transported by the second mounting track, and each of the two or more second pitch adjustment components is configured to controllably change the second pitch between the two or more extendable gripping components along the second mounting track. A robotic system, including...

[0114] Example 17 The first pitch adjustment component is, A pitch adjustment plate having two or more grooves operably coupled to two or more second transport plates, wherein the two or more grooves are partially oriented along the first axis, and the position of the pitch adjustment plate relative to the first transport plate is such that the two or more second transport plates operably coupled to the two or more grooves are at least partially positioned. An expandable component operably coupled to the first transport plate and the pitch adjustment plate, wherein the expansion and contraction of the expandable component changes the position of the pitch adjustment plate relative to the first transport plate. A robotic system, including the one described in Example 16.

[0115] Example 18 Each of the two or more second pitch adjustment components is A pitch adjustment plate having two or more grooves operably coupled to two or more extendable gripping components, wherein the two or more grooves are partially oriented along the second axis, and the position of the pitch adjustment plate relative to the corresponding second transport plate is such that the two or more extendable gripping components operably coupled to the two or more grooves are at least partially positioned. An expandable component operably coupled to the corresponding second transport plate and the pitch adjustment plate, wherein the expansion and contraction of the expandable component changes the position of the pitch adjustment plate relative to the corresponding second transport plate. A robotic system, including any of the examples 16-17.

[0116] Example 19 A robotic system according to any one of Examples 16 to 18, wherein each of the two or more extendable gripping components on the two or more second transport plates is individually extendable.

[0117] Example 20 The robotic system according to any one of Examples 16 to 19, wherein each of the two or more extendable gripping components on the two or more second transport plates includes at least one of a distal end and a gripping element located at the distal end, the gripping element including one or more of a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a robotic gripper.

[0118] Example 21 The robotic system according to any one of Examples 16 to 19, further comprising a processor operably coupled to the robotic arm and / or the object gripping assembly.

[0119] Example 22 The aforementioned processor, Determine the set of two or more extendable gripping elements to be operated during the gripping operation, Determine the desired pitch of the set of two or more extendable gripping elements along the first axis, The first pitch adjustment component is operated to adjust the actual pitch of the set of two or more extendable gripping elements toward the desired pitch. The robotic system described in Example 21 is configured as follows.

[0120] Example 23 The aforementioned processor, Determine the set of the multiple sets of two or more extendable gripping elements on each of the second transport plates to be operated during the gripping operation, Determine the desired pitch of the set of two or more extendable gripping elements along the second axis, The two or more second pitch adjustment components are operated to adjust the actual pitch of the set of the two or more extendable gripping elements toward the desired pitch. A robotic system as described in either example 21 or 22.

[0121] Example 24 A first transport plate having a first mounting track extending along a first axis, Two or more second transport plates, which are movable and transported by the first attachment truck, each of the two or more second transport plates is A second mounting track extending along a second axis that is at least partially perpendicular to the first axis, Multiple extendable gripping elements that are movable and transported by the second mounting track on the second transport plate and things that include, A first pitch adjustment component operably coupled to the first transport plate and the two or more second transport plates, configured to controllably adjust the first pitch of the plurality of extendable gripping elements along the first axis, A second pitch adjustment component operably coupled to a corresponding second transport plate, An object gripping assembly in which the two or more extendable gripping elements are carried by the second mounting track, and the second pitch adjustment component is configured to controllably adjust the second pitch of the plurality of extendable gripping elements along the second axis.

[0122] Example 25 The first transport plate, A plurality of second transport plates carried by the first plate, each of the plurality of second transport plates is Mounting tracks extending along the horizontal axis, Multiple extendable gripping elements that are movable and transported by the mounting track on the second transport plate and things that include, It comprises multiple pitch adjustment components, An object gripping assembly in which each of the plurality of pitch adjustment components is operably coupled to a corresponding second transport plate, the two or more extendable gripping elements are transported by the corresponding second transport plate, and each of the plurality of pitch adjustment components is configured to controllably adjust the pitch of the plurality of extendable gripping elements along the horizontal axis.

[0123] Example 26 Each of the aforementioned plurality of pitch adjustment components is A pitch adjustment plate having a plurality of grooves operably coupled individually to the plurality of extendable gripping elements carried by a corresponding second transport plate, wherein the position of the pitch adjustment plate relative to the corresponding second transport plate is such that the plurality of extendable gripping elements operably coupled to the plurality of grooves are at least partially positioned. An expandable component operably coupled to the corresponding second transport plate and the pitch adjustment plate, wherein the expansion and contraction of the expandable component changes the position of the pitch adjustment plate relative to the corresponding second transport plate. An object gripping assembly, including the one described in Example 25.

[0124] Example 27 An object gripping assembly according to any one of Examples 25 to 26, wherein each of the multiple extendable gripping elements on the multiple second transport plates is individually extendable.

[0125] Example 28 An object gripping assembly according to any of Examples 25 to 27, wherein the first transport plate includes a flange that can be coupled to a robot positioning system, and the flange includes one or more communication channels operably coupled to the plurality of pitch adjustment components.

[0126] Example 29 An object gripping assembly according to any one of Examples 25 to 28, further comprising a controller carried by the first mounting plate, wherein the controller is operably coupled to each of the plurality of extendable gripping elements and each of the plurality of pitch adjustment components.

[0127] conclusion As stated herein, while certain embodiments of the Art are described herein for illustrative purposes, it will be understood that well-known structures and functions are not shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the Art. To the extent that any material incorporated herein by reference conflicts with the Disclosure, the Disclosure shall prevail. Where the context allows, singular or plural terms may also include plural or singular terms, respectively. Furthermore, unless the word “or” is expressly limited to referring to a list of two or more items to mean only a single item that is exclusive from the other items, the use of “or” in such a list should be interpreted as including (a) any single item in the list, (b) all items in the list, or (c) any combination of items in the list. Furthermore, where used herein, the phrase “and / or” in “A and / or B” refers to A only, B only, and both A and B. In addition, the terms “comprising,” “including,” “having,” and “with” are used throughout this disclosure to mean including at least the enumerated features, so as not to exclude any more than one or more identical features and / or additional types of features.

[0128] From the foregoing, it will be understood that various modifications may be made without departing from the present disclosure or the present art. For example, those skilled in the art will understand that various components of the present art can be further divided into sub-components, or that various components and functions of the present art can be combined and integrated. In addition, certain aspects of the present art described in light of a particular embodiment may also be combined with or excluded in other embodiments. Furthermore, while advantages associated with certain embodiments of the present art have been described in light of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments are required to exhibit such advantages in order to fall within the scope of the art. Accordingly, the present disclosure and the associated art may encompass other embodiments not expressly shown or described herein.

Claims

[Claim 1] a first conveyance plate, a plurality of second conveyance plates, a first pitch adjustment plate, and a plurality of second pitch adjustment plates; The first carrier plate includes: a top surface including a flange configured to connect to a robotic arm; a lower surface opposite the upper surface, the lower surface including at least one first mounting track extending along a first axis of the lower surface; The plurality of second carrier plates are slidably carried by the at least one first mounting track on the first carrier plate, and each of the plurality of second carrier plates comprises: at least one second mounting track extending along a second axis at least partially perpendicular to the first axis; a plurality of extensible gripping components slidably carried by the at least one second mounting track; the first pitch adjustment plate is operably coupled to the plurality of second conveying plates to adjust the pitch of the plurality of second conveying plates in the first axis; an object gripping assembly, wherein each of the plurality of second pitch adjustment plates is carried by a corresponding second transport plate and is operably coupled to the plurality of extensible gripping components on the corresponding second transport plate to adjust the pitch of the plurality of extensible gripping components in the second axis.

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