Robotic systems with object handling mechanism and associated systems and methods

Abstract

To provide an improved art etc. for managing operation etc. between robots.SOLUTION: A robotic system includes a robotic arm and an end-of-arm tool. The end-of-arm tool can include an actuator system coupled to a frame. The end-of-arm tool can also include a first clamping component, a second clamping component, and a third clamping component. The third clamping component is positioned peripheral to the second clamping component with respect to the first clamping component and includes one or more extension portions extending toward the first clamping component. The actuator system can be coupled to the first, second, and / or third clamping components to move the first, second, and / or third clamping components along a transverse axis of the end-of-arm tool.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Patent Application No. 63 / 327,811, filed April 6, 2022, which is incorporated by reference in its entirety.

[0002] The present technology relates generally to robotic systems with gripping mechanisms, and more specifically to robotic systems having features for planning packaging tasks and adjusting gripper mechanisms based on the packaging task. [Background technology]

[0003] Due to improved performance and reduced costs, many robots (e.g., machines configured to automatically / autonomously perform physical actions) are becoming widely used in many fields. For example, robots can be used to perform various tasks (e.g., manipulating or transporting objects through space) in manufacturing and / or assembly, packing and / or packaging, transporting and / or shipping, etc. In performing tasks, robots can replicate human actions and thus replace or reduce human intervention that would otherwise be required to perform dangerous or repetitive tasks.

[0004] However, despite technological advances, robots often lack the advanced capabilities necessary to replicate the human interactions required to perform larger and / or more complex tasks. Thus, there remains a need for improved techniques and systems for managing behavior and / or interactions between robots. [Brief description of the drawings]

[0005] [Figure 1] FIG. 1 illustrates an exemplary environment in which a robotic system with a gripping mechanism can operate, in accordance with some embodiments of the present technology. [Diagram 2]2 is a block diagram illustrating the robotic system of FIG. 1 in accordance with some embodiments of the present technology. [Diagram 3] FIG. 1 is a diagram of a robotic unit configured in accordance with some embodiments of the present technology. [Figure 4] 13 is a partial schematic diagram of an end-of-arm tool in accordance with some embodiments of the present technology; [Figure 5A] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping a target object in accordance with some embodiments of the present technology; [Figure 5B] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping a target object in accordance with some embodiments of the present technology; [Figure 5C] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping a target object in accordance with some embodiments of the present technology; [Figure 5D] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping a target object in accordance with some embodiments of the present technology; [Figure 6A] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping multiple target objects in accordance with some embodiments of the present technology; [Figure 6B] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping multiple target objects in accordance with some embodiments of the present technology; [Figure 6C] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping multiple target objects in accordance with some embodiments of the present technology; [Figure 6D] FIG. 13 is a partial schematic diagram of an end-of-arm tool gripping multiple target objects in accordance with some embodiments of the present technology; [Figure 7A] 1 is a partial top view schematic diagram of a packaging operation plan according to some embodiments of the present technology. [Figure 7B] FIG. 7B is a partial schematic diagram of an end-of-arm tool packing a shipping unit according to the scheme of FIG. 7A, in accordance with some embodiments of the present technology. [Figure 7C] FIG. 7B is a partial schematic diagram of an end-of-arm tool packing a shipping unit according to the scheme of FIG. 7A, in accordance with some embodiments of the present technology. [Figure 7D] FIG. 7B is a partial schematic diagram of an end-of-arm tool packing a shipping unit according to the scheme of FIG. 7A, in accordance with some embodiments of the present technology. [Figure 7E] FIG. 7B is a partial schematic diagram of an end-of-arm tool packing a shipping unit according to the scheme of FIG. 7A, in accordance with some embodiments of the present technology. [Figure 8A] 1 is a flow diagram of a packaging process in accordance with some embodiments of the present technology. [Figure 8B] 8B is a flow diagram of a process for picking one or more target objects during the packing operation of FIG. 8A in accordance with some embodiments of the present technology. [Figure 8C] 8B is a flow diagram of a process for placing one or more target objects during the packaging operation of FIG. 8A in accordance with some embodiments of the present technology. [Figure 9] 13 is a schematic partial top view of a packaging operation plan according to a further embodiment of the present technology; FIG. [Figure 10] 13 is a schematic partial top view of a packaging operation plan according to a further embodiment of the present technology; FIG. [Figure 11A] 13 is a partial schematic view of an end-of-arm tool during a packaging operation according to a further embodiment of the present technology; [Figure 11B] 13 is a partial schematic view of an end-of-arm tool during a packaging operation according to a further embodiment of the present technology; [Figure 12] 13 is a partial schematic diagram of an end-of-arm tool configured in accordance with a further embodiment of the present technology; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0006] The drawings are not necessarily drawn to scale. Similarly, some components and / or operations may be separated into different blocks or combined into a single block for purposes of describing some of the embodiments of the technology. Furthermore, while the technology is susceptible to various modifications and alternative forms, specific embodiments are shown by way of example in the drawings and are described in detail below. However, the intention is not to limit the technology to the specific embodiments described.

[0007] For ease of reference, the end effector and its components may be described herein with reference to top and bottom, upper and lower, upward and downward, longitudinal, horizontal, xy, vertical, and / or z-planes relative to the spatial orientation of the embodiments shown in the drawings. However, it should be understood that the end effector and its components can be moved to and used in different spatial orientations without altering the structure and / or function of the disclosed embodiments of the technology.

[0008] overview Disclosed herein are robotic systems with hybrid gripping mechanisms, and related systems and methods. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool may include a frame having a first axis (e.g., a vertical axis) and a second axis (e.g., a horizontal axis) at least partially orthogonal to the first axis. The end-of-arm tool may also include an actuator system and first, second, and third clamping components, each coupled to the frame.

[0009] The first clamp component (sometimes referred to herein as an outer clamp component) extends along a first axis and along an outer edge of the frame. As a result, the first clamp component can define an outer wall of the end-of-arm tool. The second clamp component (sometimes referred to herein as an inner clamp component) extends along the first axis and is operably coupled to the actuator system to move toward and away from the first clamp component along the second axis. In operation, the first and second clamp components can engage opposing sides of one or more target objects to clamp one or more target objects therebetween.

[0010] The third clamp component (sometimes referred to herein as a support clamp component) extends along a first axis around the second clamp component relative to the first clamp component (e.g., positioned further from the first clamp component than the second clamp component) and includes one or more extensions extending toward the first clamp component. The one or more extensions are at a height below a lower edge of the second clamp component. The third clamp component is also operably coupled to the actuator system to move toward and away from the first clamp component along the second axis. In operation, after the first and second clamp components engage the sides of the one or more target objects, the third clamp component can move toward the first clamp component and position the one or more extensions below the lower surface of the one or more target objects. As a result, the one or more extensions can help support the one or more target objects while the robotic system is transporting the one or more target objects. Additionally or alternatively, the third clamp component can help stabilize the end-of-arm tool (e.g., add rigidity, strengthen engagement, etc.) after the first and second clamp components engage the sides of the target object or objects.

[0011] In some embodiments, the actuator system includes a track carried by the frame and extending along a second axis, a first carriage operably coupled between the track and the second clamp component, a second carriage operably coupled between the track and a third clamp component, and a driver operably coupled to the first and second carriages. Movement of the first carriage can control movement of the second clamp component along the second axis. Similarly, movement of the second carriage can control movement of the third clamp component along the second axis.

[0012] In some embodiments, the second clamp component and / or the third clamp component include a reinforcing bracket that facilitates coupling to the actuator system. The reinforcing bracket can extend along a third axis that is at least partially orthogonal to the first and second axes and help transfer motion from the actuator system throughout the second clamp component and / or the third clamp component. For example, the reinforcing bracket can help ensure that motion from the actuator system is not only applied to the top edge of the second clamp component and / or the third clamp component (e.g., resulting in a pivoting force when the second clamp component engages the side of one or more target objects). When the second clamp component includes a reinforcing bracket, the third clamp component can include an opening aligned with the reinforcing bracket along the second axis. The opening can be configured to nest with the reinforcing bracket when the third clamp component is adjacent to the second clamp component, thereby allowing the third clamp component to approach (and / or abut) the second clamp component.

[0013] In some embodiments, the second clamp component includes a gripping substrate disposed on a surface of the second clamp component that faces the first clamp component. The gripping substrate can serve to reduce the amount that the one or more target objects can slip when engaged by the first and second clamp components.

[0014] In some embodiments, the first clamping component has a thickness of less than 3 centimeters. As described in more detail below, the relatively thin profile of the first clamping component can enable the first end-of-arm tool to place one or more target objects in close proximity to other objects (e.g., previously moved objects) and / or barriers (e.g., walls of a transport container). For example, during operation, the end-of-arm tool can be oriented such that the first clamping component is between one or more target objects and an object previously placed at the destination. In this example, the thickness of the first clamping component is a limiting factor in how close the one or more target objects can be placed. Thus, when the first clamping component has a relatively thin profile, the one or more target objects can be placed in close proximity to other objects (e.g., crowded at the destination).

[0015] In some embodiments, the end-of-arm tool includes a sensor system coupled to the frame and arranged to measure an environment surrounding the end-of-arm tool. For example, the sensor may include an imaging system arranged to measure one or more parameters of the one or more target objects, objects surrounding the one or more target objects, objects at the destination of the target objects, the environment surrounding the end-of-arm tool while transporting the one or more target objects, etc.

[0016] In some embodiments, the end-of-arm tool includes one or more retractable arms carried by the frame. Each of the one or more retractable arms can include a suction gripping component and can be movable between a first position and a second position. In the first position, the suction gripping component can be at a first height above a bottom edge of the second clamp component (e.g., out of the way when the first and second clamp components engage one or more target objects). In the second position, the suction gripping component can be at a second height below a bottom edge of the second clamp component (e.g., capable of gripping an object such as a slip-sheet or other partition).

[0017] For clarity, some details describing structures or processes that are well known and often associated with robotic systems and subsystems, but that may unnecessarily obscure some important aspects of the disclosed technology, are not included in the following description. Additionally, in the following disclosure, some embodiments of different aspects of the technology are shown, but some other embodiments may have different configurations or different components than those described in this section. Thus, the disclosed technology may have other embodiments that have additional elements or that do not have some of the elements described below.

[0018] Many embodiments or aspects of the disclosure described below may take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the art will appreciate that the disclosed technology may be implemented in computer or controller systems other than those shown and described below. The technology described herein may be embodied in a special-purpose 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 generally used herein refer to any data processor and may include Internet appliances and handheld devices, including palmtop computers, wearable computers, cellular or mobile phones, multiprocessor systems, processor-based or programmable consumer electronics, network computers, minicomputers, and the like. Information processed by these computers and controllers may be presented on any suitable display medium, including a liquid crystal display (LCD). Instructions for performing computer-executable or controller-executable tasks may be stored on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. The instructions may be contained in any suitable memory device, including, for example, a flash drive, a USB device, and / or other suitable medium.

[0019] The terms "coupled" and "connected," along with their derivatives, may be used herein to describe a structural relationship between components. It should be understood that these terms are not intended as synonyms for each other. Rather, in certain embodiments, "connected" may be used to indicate that two or more elements are in direct contact with each other. Unless otherwise clear by context, the term "coupled" may be used to indicate that two or more elements are in direct or indirect contact with each other (with other intervening elements therebetween), that two or more elements cooperate or interact with each other (e.g., in a causal relationship such as transmission / reception of signals or function calls), or both.

[0020] Example Environment for a Robotic System 1 is a diagram of an example environment in which a robotic system 100 with an object handling mechanism can operate. The operating environment of the robotic system 100 may include one or more structures, such as robots or robotic devices, configured to perform one or more tasks. Aspects of the object handling mechanism can be performed or implemented by a variety of structures and / or components.

[0021] In the example shown in FIG. 1, the robotic system 100 may include an unloading unit 102, a transfer unit 104, a transport unit 106, a loading unit 108, or a combination thereof, in a warehouse, distribution center, or transfer hub. Each unit of the robotic system 100 may be configured to perform one or more tasks. Tasks may be combined in sequence to perform actions to accomplish a goal, such as unloading an object from a vehicle, such as a truck, trailer, van, or train, for storage in a warehouse, or unloading an object from a storage location and loading it onto a vehicle for shipment. In another example, a task may include moving an object from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. Each unit may be configured to perform a sequence of actions, such as operating one or more components therein, to perform a task.

[0022] In some embodiments, a task may include an interaction with a target object 112, such as manipulating, moving, reorienting, or a combination thereof, of the object. The target object 112 is an object to be processed by the robotic system 100. More specifically, the target object 112 may be a particular object among many objects that are the subject of an action or task by the robotic system 100. For example, the target object 112 may be an object that the robotic system 100 is selecting, or may be an object that is currently being processed, manipulated, moved, reoriented, or a combination thereof. The target object 112 may include, by way of example, a box, a case, a tube, a package, a bundle, an assortment of individual items, or any other object that can be processed by the robotic system 100.

[0023] As an example, a task may include transferring a target object 112 from an object source 114 to a task location 116. The object source 114 (start location) may be a container for storing objects. The object source 114 may include 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 container with walls or a lid on which objects can be placed, such as a bin, cage, or basket. In some embodiments, the walls of the partially or fully enclosed object source 114 may be transparent or may include openings or gaps of various sizes such that some of the objects contained therein are visible or partially visible through the walls. In yet another example, the object source 114 may be a conveyor belt and / or any other suitable assembly line location.

[0024] 1 illustrates examples of possible functions and operations that various units of the robotic system 100 may perform in handling the target object 112, it being understood that the environments and conditions may differ from those described below. For example, the unloading unit 102 may be a vehicle unloading robot configured to transfer the target object 112 from a location on a vehicle, such as a truck, to a location on a conveyor belt. Also, the transfer unit 104, such as a palletizing robot, may be configured to transfer the target object 112 from a location on a conveyor belt to a location on the transfer unit 106, such as for loading the target object 112 onto a pallet on the transfer unit 106. In another example, the transfer unit 104 may be a piece-picking robot configured to transfer the target object 112 from one container to another. Upon completion of the operation, the transport unit 106 may transfer the target object 112 from a range associated with the transfer unit 104 to a range associated with the loading unit 108, which may transfer the target object 112 from the transfer unit 104 to a storage location, such as a location on a shelf, such as by moving a pallet carrying the target object 112. More details regarding the tasks and associated actions are provided below.

[0025] 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, such as manipulators, service robots, modular robots, etc., that are not shown in FIG. 1 . For example, in some embodiments, the robotic system 100 can 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, a piece picking unit for manipulating objects in different ways, such as sorting, grouping, and / or transferring according to one or more characteristics of the objects, or a combination thereof.

[0026] The robotic system 100 may include a controller 109 configured to interface with and / or control one or more of the robotic units. For example, the controller 109 may include circuitry (e.g., one or more processors, memory, etc.) configured to derive a motion plan and / or corresponding commands, settings, etc. used to operate a corresponding robotic unit. The controller 109 can communicate the motion plan, commands, settings, etc. to the robotic units, which can execute the communicated plan to accomplish a corresponding task, such as transferring a target object 112 from an object source 114 to a task location 116.

[0027] The right system 2 is a block diagram illustrating a robotic system 100 in accordance with one or more embodiments of the present technology. In some embodiments, for example, the robotic system 100 may include electronic devices, electrical devices, or combinations thereof, such as a control unit 202 (also referred to herein as a "processor 202"), a storage unit 204, a communication unit 206, a system input / output (I / O) device 208 having a system interface 210 (also referred to herein as a "user interface 210"), one or more actuation devices 212, one or more transport motors 214, one or more sensor units 216, or combinations thereof coupled to each other or integrated or coupled with one or more of the units or robots described in FIG. 1 above, or combinations thereof.

[0028] The control unit 202 can be implemented in a number of different ways. For example, the control unit 202 can 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 for the robotic system 100.

[0029] The control unit 202 may be operatively coupled to a user interface 210 to provide a user with control over the control unit 202. The user interface 210 may be used for communication between the control unit 202 and other functional units within the robotic system 100. The user interface 210 may also be used for communication external to the robotic system 100. The user interface 210 may receive information from other functional units or external sources or may send information to other functional units or external destinations. External sources and external destinations refer to sources and destinations external to the robotic system 100.

[0030] The user interface 210 can be implemented in different ways and can include different implementations depending on which functional or external units interface with the user interface 210. For example, the user interface 210 can be implemented with pressure sensors, inertial sensors, microelectromechanical systems (MEMS), optical circuits, waveguides, wireless circuits, wired circuits, application programming interfaces, or combinations thereof.

[0031] The storage unit 204 may store software instructions, master data, tracking data, or a combination thereof. For purposes of illustration, the storage unit 204 is shown as a single element, but it is understood that the storage unit 204 may be a distribution of storage elements. Also, for purposes of illustration, the robotic system 100 is shown with the storage unit 204 as a single tiered storage system, but it is understood that the robotic system 100 may have storage units 204 in different configurations. For example, the storage units 204 may be formed with different storage technologies forming a storage tiered system including different levels of caching, main memory, rotating media, or offline storage.

[0032] The storage unit 204 may be a volatile memory, a non-volatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit 204 may be a non-volatile storage such as a non-volatile random access memory (NVRAM), a flash memory, a disk storage, or a volatile storage such as a static random access memory (SRAM). As a further example, the storage unit 204 may be a non-transitory computer medium including a non-volatile memory such as a hard disk drive, an NVRAM, a solid-state storage device (SSD), a compact disk (CD), a digital video disk (DVD), or a universal serial bus (USB) flash memory device. Software may be stored in the non-transitory computer-readable medium that is executed by the control unit 202.

[0033] The storage unit 204 may be operatively coupled to a user interface 210. The user interface 210 may be used for communication between the storage unit 204 and other functional units within the robotic system 100. The user interface 210 may also be used for communication external to the robotic system 100. The user interface 210 may receive information from other functional units or external sources, or may transmit information to other functional units or external destinations. External sources and external destinations refer to sources and destinations external to the robotic system 100.

[0034] Similar to the above description, user interface 210 may include different implementations depending on which functional units or external units interface with storage unit 204. User interface 210 may be implemented with similar technologies and techniques as the implementations of user interface 210 described above.

[0035] In some embodiments, the storage unit 204 is used to further store and provide access to the processing results, the predetermined data, the thresholds, or combinations thereof. For example, the storage unit 204 can 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., bar codes, quick response (QR) codes, logos, etc.), expected locations, expected weights, and / or combinations thereof, of one or more target objects 112 expected to be manipulated by the robotic system 100.

[0036] In some embodiments, the master data includes manipulation-related information about one or more objects that may be encountered or processed by the robotic system 100. For example, the manipulation-related information of the objects may include each object's center of gravity location, expected sensor measurements (e.g., for force, torque, pressure, and / or contact measurements) corresponding to one or more motions, manipulations, or combinations thereof.

[0037] The communications unit 206 can enable external communications to and from the robotic system 100. For example, the communications unit 206 can enable the robotic system 100 to communicate with other robotic systems or units, external devices such as external computers, external databases, external machines, external peripherals, or combinations thereof over a communications path 218, such as a wired or wireless network.

[0038] 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, Fiber to the Home (FTTH), and Plain Old 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 a direct connection, a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or a combination thereof. The robotic system 100 can transmit information between various units via the communication path 218. For example, information may be transmitted between the control unit 202, the storage unit 204, the communication unit 206, the I / O devices 208, the actuation devices 212, the transport motors 214, the sensor units 216, or any combination thereof.

[0039] The communication unit 206 can also function as a communication hub that allows the robotic 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 can include active and passive components, such as microelectronics or antennas, to interact with the communication path 218.

[0040] The communication unit 206 may include a communication interface. The communication interface may be used for communication between the communication unit 206 and other functional units in the robotic system 100. The communication interface may receive information from other functional units or external sources, or may transmit information to other functional units or external destinations. External sources and external destinations refer to sources and destinations outside the robotic system 100.

[0041] The communication interface may include different implementations depending on which functional units interface with the communication unit 206. The communication interface may be implemented with similar technologies and techniques as the implementation of the control interface.

[0042] The I / O devices 208 may include one or more input sub-devices and / or one or more output sub-devices. Examples of input devices of the I / O devices 208 may include a keypad, a touchpad, soft keys, a keyboard, a microphone, a sensor for receiving remote signals, a camera for receiving operational commands, or any combination thereof for providing data and communication input. Examples of output devices may include a display interface. The display interface may be any graphical user interface, such as a display, a projector, a video screen, and / or any combination thereof.

[0043] The control unit 202 can operate the I / O devices 208 to present or receive information generated by the robotic system 100. The control unit 202 can operate the I / O devices 208 to present information generated by the robotic system 100. The control unit 202 can also execute software and / or instructions for other functions of the robotic system 100. The control unit 202 can further execute software and / or instructions for interacting with a communication path 218 via the communication unit 206.

[0044] The robotic system 100 may include physical or structural members, such as robotic manipulator arms, that are articulated for motions, such as rotational displacement, translational displacement, or combinations thereof. The structural members and joints may form a kinematic chain configured to manipulate an end effector, such as a gripping element, that performs one or more tasks, such as grasping, spinning, welding, depending on the use or operation of the robotic system 100. The robotic system 100 may include actuation devices 212, such as motors, actuators, wires, artificial muscles, electroactive polymers, or combinations thereof, configured to drive, manipulate, displace, reorient, or combinations thereof, the structural members around or at the corresponding joints. In some embodiments, the robotic system 100 may include a transport motor 214 configured to transport the corresponding unit to various locations.

[0045] The robotic system 100 may include a sensor unit 216 configured to obtain information used to perform tasks and operations, such as manipulating a structural member or transporting a robotic unit. The sensor unit 216 may include devices configured to detect or measure one or more physical characteristics of the robotic system 100, such as the state, condition, position of one or more structural members or joints, information about an object or the surrounding environment, or a combination thereof. By way of example, the sensor unit 216 may include imaging devices, system sensors, contact sensors, and / or any combination thereof.

[0046] 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 can include two-dimensional cameras, three-dimensional cameras, both of which may include a combination 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 a point cloud, used to implement machine / computer vision for automated inspection, robotic guidance, or other robotic applications. As described in more detail below, the robotic system 100 can process the digital image, point cloud, or a combination thereof via the control unit 202 to identify the target object 112 of FIG. 1, the pose of the target object 112, or a combination thereof. To manipulate the target object 112, the robotic system 100 can capture and analyze images of a specified area, e.g., the pick-up location of the object in a truck, in a container, or on a conveyor belt, to identify the target object 112 and its object source 114 of FIG. 1. Similarly, the robotic system 100 can capture and analyze images of another specified area, such as a drop location for placing an object on a conveyor belt, a location for placing an object in a container, or a location on a pallet for stacking purposes, to identify the task location 116 in FIG. 1.

[0047] In some embodiments, the sensor unit 216 may include system sensors 224. The system sensors 224 may monitor the robotic units in the robotic system 100. For example, the system sensors 224 may include units or devices for detecting and monitoring the positions of structural members, such as robot arms and end effectors, corresponding joints of the robotic units, or a combination thereof. As a further example, the robotic system 100 may use the system sensors 224 to track the positions, orientations, or a combination thereof of the structural members and joints during the performance of a task. Examples of the system sensors 224 may include accelerometers, gyroscopes, or position encoders.

[0048] In some embodiments, the sensor unit 216 may include a contact sensor 226, such as a pressure sensor, a force sensor, a strain gauge, a piezoresistive / piezoelectric sensor, a capacitance sensor, an elastic resistive sensor, a torque sensor, a linear force sensor, other tactile sensors, and / or any other suitable sensor, configured to measure a characteristic associated with direct contact between multiple physical structures or surfaces. For example, the contact sensor 226 may measure a characteristic corresponding to a grip of the end effector on the target object 112 or measure a weight of the target object 112. Thus, the contact sensor 226 may output a contact measurement that represents a quantified measurement, such as a measured force or torque, that corresponds to a degree of contact or adhesion between the gripping element and the target object 112. For example, the contact measurement may include one or more force or torque measurements associated with a force applied by the end effector to the target object 112.

[0049] The right object-grasping system FIG. 3 is a diagram of a robotic unit 300 (e.g., one of the robotic units, such as a palletizer unit, a debanning unit, a picker unit, etc., described above with respect to FIG. 1) configured in accordance with some embodiments of the present technology. In the illustrated embodiment, the robotic unit 300 includes a robotic arm 310 and an end-of-arm tool 320 (which may also be referred to herein as an “end effector,” “object gripping mechanism,” “object gripping assembly,” “gripping assembly,” “gripping mechanism,” “object gripper,” “gripper,” and / or “gripping head”) carried by the robotic arm 310. As shown in FIG. 3, the robotic arm 310 can include a first flange 312 and one or more joints 314 (three shown), while the end-of-arm tool 320 includes a second flange 322 operably coupleable to the first flange 312 of the robotic arm 310. When coupled together, the first and second flanges 312, 322 can establish both a physical connection and one or more communication connections (e.g., an electrical connection, a fluid connection, or other suitable communication connection). The physical connection allows the robotic arm 310 to carry the end-of-arm tool 320 , while the communication connection allows the end-of-arm tool 320 to be controlled via a connection to the robotic arm 310 .

[0050] The robotic unit 300 can be configured to clamp, pick up, grasp, transport, release, load, and / or unload various types or categories of objects. For example, in the described embodiment, the one or more joints 314 enable the robotic arm 310 to controllably position the end-of-arm tool 320 on and / or adjacent to one or more target objects (e.g., the target object 112 described above with respect to FIG. 1). Once positioned, the end-of-arm tool 320 can be operated to grasp the target object(s). The one or more joints 314 then also enable the robotic arm 310 to controllably position the end-of-arm tool 320 to move the target object(s) between locations (e.g., between a pick-up location and a drop-off location). Once positioned over a desired location, the end-of-arm tool 320 can be manipulated to release the target object(s). Further details of the operation of the end-of-arm tool 320 are provided further below with respect to FIGS. 4-12.

[0051] 4 is a partial schematic diagram of an end-of-arm tool 400, according to some embodiments of the present technology. In the illustrated embodiment, the end-of-arm tool 400 (sometimes referred to herein as an "end effector", "object gripping mechanism", "object gripping assembly", "gripping assembly", "gripping mechanism", "object gripper", "gripper", "gripping head", etc.) includes a frame 402, an actuator system 410, and a first clamping component 420, a second clamping component 430, and a third clamping component 440, each coupled to (carried by) the frame 402. The end-of-arm tool 400 can be coupled to a robotic arm (e.g., robotic arm 310 of FIG. 3) and / or another suitable component via a connection flange 404 on a top surface of the frame 402.

[0052] In various embodiments, the actuator system 410 is coupled to the first clamp component 420, the second clamp component 430, and / or the third clamp component 430 to move the first, second, and / or third clamp components 420, 430, 440 independently along a horizontal axis (e.g., an x-axis, and / or a vertical axis at least partially perpendicular (or orthogonal) to the frame 402 to grasp and / or release one or more target objects. For example, in the illustrated embodiment, the actuator system includes a track 412 and two or more carriages 414 (one labeled The actuator system 410 includes a carriage 414 and one or more drivers 416 operably coupled to the carriage 414 to drive their movement along the track 412. As a result, the actuator system 410 can drive the movement of the second and third clamp components 430, 440 along the transverse axis while the first clamp component 420 remains in place. A fixed coupling between the first clamp component 420 and the frame 402 can simplify operation of the end-of-arm tool 400. However, it will be appreciated that in some embodiments, the actuator system 410 is operably coupled to the first clamp component 420 in addition to (or instead of) the second and third clamp components 430, 440.

[0053] In various other embodiments, the actuator system 410 may include additional or alternative components for moving the first, second, and / or third clamp components 420, 430, 440. For example, the actuator system 410 may include extendable components (e.g., telescoping components, pistons, linear actuators, etc.) instead of or in addition to the track 412 and carriage 414 described above. Additionally or alternatively, the actuator system 410 may include electric track actuators, coil actuators, fixed belt actuators, lead screw actuators, and / or any other suitable mechanisms for moving the first, second, and / or third clamp components 420, 430, 440 in accordance with the systems and methods described herein.

[0054] In the illustrated embodiment, the first clamping component 420 is a rigid thin material coupled to the periphery of the frame 402. As a result, the first clamping component 420 (sometimes referred to herein as an "external clamping component," "clamping plate," etc.) defines a constant (e.g., unchanging) edge of the clamping mechanism for the end-of-arm tool 400 to reference during the packaging operation. As further shown in FIG. 4, the first clamping component 420 includes a first clamping surface 422 oriented (e.g., facing, oriented) toward the second clamping component 430 and one or more first openings 424 (two are shown). In some embodiments, the first clamping surface 422 may include a gripping substrate (e.g., a high friction material such as silicone, rubber, textured surface, etc.) to aid in gripping one or more target objects. The first opening(s) 424 can reduce the weight of the first clamp component 420, increase the maneuverability of the end-of-arm tool 400, and / or reduce strain on a robotic system using the end-of-arm tool 400.

[0055] As described in more detail below, during the packaging operation, the first clamping component 420 abuts against an existing object (e.g., a previously placed object, a container wall and / or a barrier, etc.), and the second and third clamping components 430, 440 release the target object(s) at the destination. As a result, the thickness T1 (along the x-axis) of the first clamping component 420 imposes a lower limit on how tightly the target object(s) can be packed at the destination. Because the thickness T1 imposes a limit on how tightly the target object(s) can be packed, it is beneficial for the first clamping component 420 to be as thin as possible while still providing the necessary stiffness to grip the target object(s). In various embodiments, the thickness T1 may be between about 1 millimeter (mm) and about 3 centimeters (cm).

[0056] The second clamp component is carried by the frame 402 via the actuator system 410. Similar to the first clamp component 420, the second clamp component 430, 430 (sometimes referred to herein as an "inner clamp component", "clamp plate", "active clamp component", etc.) includes a second clamp surface 432 that is oriented (e.g., facing, oriented) toward the first clamp component 420 and one or more second openings 434 (two are shown). The second clamp surface 432 can include a gripping substrate to aid in gripping the target object(s), while the second opening(s) 434 can reduce the weight of the second clamp component 430. Additionally, as described above, the second clamp component 430 is operably coupled to one or more of the carriages of the actuator system 410 to move the second clamp component 430 along a lateral axis (e.g., toward and away from the first clamp component 420). As a result, the first and second clamping surfaces 422, 432 can engage opposing (e.g., opposite) sides of the target object(s), enabling the end-of-arm tool 400 to lift and transport the target object(s).

[0057] The third clamp component 440 provides optional additional support for the target object(s) engaged by the end-of-arm tool 400. In the illustrated embodiment, the third clamp component 440 is carried by the frame 402 (sometimes referred to herein as the periphery of the second clamp component 430 relative to the first clamp component 420) via the actuator system 410 about the periphery of the second clamp component 430 along a transverse axis (e.g., x-axis) of the frame 402. The third clamp component 440 includes one or more extension portions 442 (sometimes referred to as “object support components”, “lifting portions”, “protrusions”, “object lifting components”, etc.) that protrude toward the first clamp component 420 and one or more openings 444 (one labeled and two shown). Additionally, when the third clamp component 440 abuts the second clamp component 430 (e.g., as shown), the extension portion 442 extends below the lower edge 433 of the second clamp component 430 and beyond the second clamp surface 432. As a result, the extension portion 442 can engage or support the underside of the target object(s) engaged by the first and second clamp surfaces 422, 432. Additionally or alternatively, the third clamp component 440 can add stability to the end-of-arm tool 400 by increasing the stiffness of the moving side of the end-of-arm tool 400. The additional support and / or stability can help stabilize the target object(s) during transport and / or enable the end-of-arm tool 400 to lift and transport heavier objects.

[0058] In the illustrated embodiment, the third clamp component 440 includes one or more reinforcing bracket(s) 446 (as shown in FIG. 4 ) that can facilitate coupling between the third clamp component 440 and the carriage 414 of the actuator system 410. For example, the reinforcing bracket(s) 446 can help distribute a force applied to the third clamp component 440 along a larger vertical portion of the third clamp component 440 (e.g., distribute the force along the z-axis). As a result, the reinforcing bracket(s) 446 can help ensure that the bottom edge of the third clamp component 440 moves at the same speed as the top edge of the third clamp component 440. In some embodiments, for example, as described in more detail below, the second clamp component 430 includes one or more reinforcing brackets that can be generally similar to the reinforcing bracket 446 of the third clamp component 440 (e.g., as shown below with respect to FIG. 5B ).

[0059] As further shown in FIG. 4, the end-of-arm tool 400 may include a sensor system 450 and one or more retractable suction grippers 460 (one shown). In the illustrated embodiment, the sensor system includes a sensor unit 452 and an arm 454 coupling the sensor unit 452 to the frame 402. The sensor unit 452 may include any of the sensor units 216 described above with reference to FIG. 2 to measure the state of the end-of-arm tool 400 and / or the broader robotic system, one or more parameters of one or more target objects (e.g., size, shape, object type, etc.), pick-up location, drop-off location and / or destination, and / or transport path, etc. In various other embodiments, the sensor system 450 may include one or more additional components, may be coupled to various other locations of the end-of-arm tool 400 (or the robotic system more broadly), and / or may omit the arm 454. Purely by way of example, the sensor system 450 may include one or more sensor units 452 each coupled (or connected) to the frame 402 without the arm 454. As described in more detail below, the retractable suction gripper 460 can enable the end-of-arm tool 400 to grasp, transport, place, and / or remove dividers (e.g., slip-sheets or other suitable dividers) between destination layers while unpacking a shipping unit.

[0060] 5A-5D are partial schematic diagrams of an end-of-arm tool 500 gripping a target object 10a (FIG. 5B) according to some embodiments of the present technology. As shown in FIG. 5A, the end-of-arm tool 500 is substantially similar to the end-of-arm tool 400 described above with reference to FIG. 4. For example, the end-of-arm tool 500 includes a frame 502, as well as an actuator system 510 and a first clamp component 520 coupled to the frame 502. The end-of-arm tool 500 also includes a second clamp component 530 coupled to the actuator system 510 (and via it to the frame 502) on the opposite side of the first clamp component 520, and a third clamp component 540 coupled to the actuator system 510 around the periphery of the second clamp component 530. As further shown in FIG. 5A, the end-of-arm tool 500 can be positioned (e.g., by a robotic unit such as robotic unit 300 of FIG. 3) to grab, grasp, and / or otherwise engage and remove the target object 10 from a pick-up location 16 (or any other suitable pick-up location) on the conveyor system 14.

[0061] 5A, the gripping process can begin by aligning a first clamping component 520 with a side of the first target object 10a. Once aligned, the first clamping component 520 can be adjacent (or in contact with) the side to reduce (minimize) the distance the first target object 10a is pushed when the end-of-arm tool 500 grips (e.g., clamps, engages, and / or otherwise secures) the first target object 10a.

[0062] 5B, after the first clamping component 520 is aligned, the actuator system 510 can move the second clamping component 530 along a first motion path A (e.g., along a transverse axis of the end-of-arm tool 500). As the second clamping component 530 moves, the second clamping surface 532 can engage a side of the first target object 10a and push the first target object 10a into contact with the first clamping component 520. As a result, the first and second clamping components 520, 530 engage opposing sides of the first target object 10a, thereby enabling the end-of-arm tool 500 to move and / or lift the first target object 10a.

[0063] As further shown in FIG. 5B, the second clamp component 530 may include one or more reinforcing brackets 534 (shown in FIG. 5B). Similar to the reinforcing bracket 446 described above with reference to FIG. 4, the reinforcing bracket(s) 534 on the second clamp component 530 can help ensure that the entire second clamp component 530 moves at the same speed, thereby helping to ensure that uniform clamping pressure is applied to the sides of the first target object 10a (e.g., rather than applying more pressure along the top edge of the first target object 10a). Additionally, in the illustrated embodiment, the third clamp component 540 includes one or more openings 544 (two are shown, one is labeled in FIG. 5B). The reinforcing bracket(s) 534 of the second clamp component 530 can each nest with one of the openings 544 of the third clamp component 540 to allow the third clamp component 540 to abut directly against the second clamp component 530, providing maximum additional support for the first target object 10a and / or stability for the end-of-arm tool 500.

[0064] In some embodiments, the first and second clamp components 520, 530 engage the first target object 10a with sufficient force and / or security to move the first target object 10a without support from the third clamp component 540 (FIG. 5A). For example, if the target object 10 is relatively light, the end-of-arm tool 500 can operate without the third clamp component 540 to speed up the process of gripping and moving the target object 10. In other embodiments, after the first and second clamp components 520, 530 engage the sides of the first target object 10a, the end-of-arm tool 500 can move to expose at least a portion of the underside of the first target object 10a adjacent the second clamp component 530. The exposed portion of the underside can then be engaged and / or supported by an extension of the third clamp component 540 (FIG. 5A).

[0065] For example, in the embodiment shown in Figures 5C and 5D, the end-of-arm tool 500 can move laterally (or mostly laterally) along the second motion path B (Figure 5C) to partially pull the first target object 10a away from the conveyor system 14 to expose a portion of the underside 12a of the first target object 10a. The actuator system 510 (Figure 5D) can then move the third clamp component 540 along the third motion path C (Figure 5D) until the extension portion 542 engages the underside 12a of the first target object 10a and / or until the third clamp component 540 abuts the second clamp component 530. As a result, the third clamp component 540 can help support the first target object 10a and / or help stabilize the end-of-arm tool 500 during transport. The added support and / or stability can be particularly useful when transporting heavier objects and / or large amounts of objects at once.

[0066] Although the second motion path B (FIG. 5C) is shown and described herein as a lateral motion path, it will be understood that the technology is not so limited. In various embodiments, the second motion path B can have a vertical component in addition to the lateral component and / or can be entirely vertical. Purely by way of example, when the end-of-arm tool 500 is deployed in an environment with little lateral clearance around the pick-up location 16 (FIG. 5A), the second motion path can be entirely vertical.

[0067] 6A-6D are partial schematic diagrams of an end-of-arm tool 600 for gripping multiple target objects, according to some embodiments of the present technology. As shown in FIG. 6A, the end-of-arm tool 600 is substantially similar to the end-of-arm tools 400, 500 described above with reference to FIGS. 4 and 5A. For example, the end-of-arm tool 600 includes a frame 602, as well as an actuator system 610 and a first clamp component 620 coupled to the frame 602. The end-of-arm tool 600 also includes a second clamp component 630 coupled to the actuator system 610 on an opposite side of the first clamp component 620, and a third clamp component 640 coupled to the actuator system 610 around the second clamp component 630.

[0068] Further, as shown in FIGS. 6A-6C, the gripping process of the multiple target objects 10b is substantially similar to the gripping process of the first target object 10a described above with reference to FIGS. 5A-5D. For example, as shown in FIG. 6A, the gripping process can begin by aligning the first clamping component 620 with the opposing side of the multiple target objects 10b. Once aligned, the first clamping surface 622 can be adjacent to and / or in contact with the side of the multiple target objects 10b. Next, as shown in FIG. 6B, the actuator system 610 can move the second clamping component 630 along a first motion path A until the first and second clamping components 620, 630 engage the side of the multiple target objects 10b. Next, as shown in FIG. 6C, the end-of-arm tool 600 can move (e.g., along a second motion path B of FIG. 5C or any other suitable motion path) to expose at least a portion of the bottom surface 12b of the multiple target objects. Once exposed, the actuator system 610 can move the third clamp component 640 along a third motion path C until the extension portion 642 engages the lower surface 12b and / or until the third clamp component 640 abuts the second clamp component 630. Once the multiple target objects 10b are fully engaged, as shown in FIG. 6D, the end-of-arm tool 600 can be lifted (or otherwise moved away) from the pick-up location 16.

[0069] 7A is a partial top schematic diagram of a plan 700 for a packaging operation in accordance with some embodiments of the present technology. Plan 700 can be implemented for loading target objects 711 (e.g., boxes of consumer goods and / or any other suitable items) onto shipping units 710 (e.g., pallets, crates, cartons, shipping containers, etc., and / or any other suitable units, such as warehouse carts, truck beds, etc.). In the illustrated embodiment, target objects 711 include four groups: a first group of target objects 712, a second group of target objects 714, a third group of target objects 716, and a fourth group of target objects 718.

[0070] As described in more detail below, the target objects 711 can be sequentially placed on the shipping unit 710 by an end-of-arm tool similar to the end-of-arm tool described above with reference to FIGS. 4-6D. As a result, there is a first distance D1 between the first and second groups of target objects 712, 714, a second distance D2 between the second group of target objects 714 and each of the third and fourth target objects 716, 718, and a third distance D3 between the third target object 716 and the fourth target object 718. The first, second, and third distances D1-D3 are each defined by the thickness of the outer clamping component (e.g., the thickness T1 of the first clamping component 420 in FIG. 4) and / or any additional space resulting from the alignment of the end-of-arm tool when placing the target object 711 (e.g., extra space to allow the outer clamping component to move away after placing the target object, a margin of error, etc.). In some embodiments, the first, second, and third distances D1-D3 are all equal. For example, if the first, second, and third distances D1-D3 were defined only by the thickness of the outer clamp component, the first, second, and third distances D1-D3 would each be minimized and equal.

[0071] 7B-7E are partial schematic diagrams of an end-of-arm tool 730 placing target objects on a pallet 720 according to the plan 700 of FIG. 7A, in accordance with some embodiments of the present technology. As shown in FIG. 7A, the placement process (sometimes also referred to herein as a packing process) can begin with the end-of-arm tool 730 placing a first group of target objects 712 on a pallet 720 (a shipping pallet in the illustrated embodiment). Because the pallet 720 does not have side walls or other surface features, the end-of-arm tool 730 does not have any constraints while placing the first group of target objects 712. Instead, the end-of-arm tool 730 can carefully align the placement according to the plan 700, which affects the placement of the remaining target objects.

[0072] Next, as shown in FIG. 7B, the end-of-arm tool 730 can position the second group of target objects 714 adjacent to the first group of target objects 712. In the illustrated embodiment, the end-of-arm tool 730 is substantially similar to the end-of-arm tools 400, 500, 600 described above with reference to FIGS. 4-6D. For example, the end-of-arm tool 730 includes a first clamp component 732, a second clamp component 734 opposite the first clamp component 732, and a third clamp component 736 surrounding the second clamp component 734. During transfer, the first clamp component 732 engages a first side of the second group of target objects 714, the second clamp component 734 engages a second side of the second group of target objects 714 opposite the first side, and the third clamp component helps support at least a portion of the underside of the second group of target objects 714. Additionally, similar to the first clamp component 420 described above with reference to FIG. 4, the first clamp component 732 can be relatively thin, thereby making it useful for densely arranging target objects on the pallet 720.

[0073] For example, as shown in FIG. 7C, the end-of-arm tool 730 can place the first clamp component 732 between the first group of target objects 712 and the second group of target objects 714 while placing the second group of target objects 714. As a result, the gap between the first group of target objects 712 and the second group of target objects 714 can be approximately equal to the thickness of the first clamp component 732 (e.g., between about 1 mm and about 3 cm). After placing the second group of target objects 714, the second and third clamp components 734, 736 can be moved away from the first clamp component 732, and the end-of-arm tool 730 can be moved vertically to disengage the second group of target objects 714. As a result, a relatively small gap between the first group of target objects 712 and the second group of target objects 714 is maintained.

[0074] In some embodiments, the third clamp component 736 is moved away from the first clamp component 732 before the end-of-arm tool 730 approaches the placement position on the pallet 720. As a result, the extension of the third clamp component 736 can disengage from the target object and move out of the way during placement of the target object. However, in other embodiments, the second and third clamp components 734, 736 are moved away from the first clamp component 732 simultaneously in the placement position.

[0075] As shown in FIGS. 7D and 7E, the end-of-arm tool 730 can then repeat the placement process for the third and fourth target objects 716, 718. In some embodiments, the orientation of the end-of-arm tool 730 relative to the pallet 720 remains the same for the remainder of the placement process, resulting in a generally similar game between the second group of target objects 714 and each of the third and fourth target objects 716, 718. In various other embodiments, the orientation of the end-of-arm tool 730 can be rotated about a vertical axis (e.g., the z-axis in FIG. 4) between any steps of the placement process. For example, in the embodiment shown in FIGS. 7D and 7E, the end-of-arm tool 730 has been rotated 90 degrees about a vertical axis. In some embodiments, the rotation allows the end-of-arm tool 730 to bring the third and fourth target objects 716, 718 into contact (or proximity) with the second group of target objects 714. However, rotation may require a gap between the third target object 716 and the fourth target object 718 to accommodate the first clamp component 732 therebetween.

[0076] The right way to plan and execute your packaging operations 8A is a flow diagram of a process 800 for a packaging operation in accordance with some embodiments of the present technology. Process 800 can be performed by a controller on the end-of-arm tool itself and / or by an external controller (e.g., controller 109 of FIG. 1 with control unit 202 of FIG. 2).

[0077] Process 800 begins at block 802 by identifying one or more parameters of one or more target object(s) and planning a grasping operation. The parameters may include length, width, height, weight, expected weight, expected weight distribution, wall strength, expected wall strength, stiffness, and / or any other suitable parameters. In some embodiments, the parameter(s) are identified by one or more sensors (e.g., sensor unit 216 of FIG. 2 and / or imaging system 160 of FIG. 1). Alternatively or additionally, the parameter(s) can be retrieved from a database (e.g., a cloud database or other suitable database) using a unique identifier (e.g., a barcode, a QR code, an RFID, and / or any other suitable identifier) ​​on the target object(s).

[0078] As an illustrative example, the robotic system 100 can obtain image data (e.g., two-dimensional and / or three-dimensional representations of the object source 14) having the target object 112 and / or various objects in the surrounding environment. The robotic system 100 can identify candidate objects depicted in the image data by identifying edges, surface textures (e.g., images and / or characters printed on the surface of the object), heights, etc. The robotic system 100 can compare the identified candidate objects and their characteristics (e.g., edge lengths, surface textures, etc.) with those of registered objects in the master data. Based on matching with the registered objects, the robotic system 100 can detect the objects depicted in the image data based on identifying a type or identifier of the depicted location and based on identifying the location of the depicted object.

[0079] At block 803, process 800 includes planning a gripping operation based on the parameter(s) identified / detected in block 802, the environment surrounding the target object(s) at the picking location (e.g., a conveyor belt and / or any other suitable location), and / or the environment of the placement location (e.g., within a pallet container or other shipping unit, on a warehouse cart, and / or any other suitable location). Planning the gripping operation may include planning the approach of the end-of-arm tool (e.g., as shown in FIGS. 5A and 6A ) including aligning the first clamping element with the target object(s), a starting distance between the first clamping element and the second clamping element, etc., operations to engage and grip the target object(s) (e.g., by clamping via the first and second clamping components, actuating the end-of-arm tool to expose the underside of the target object(s), supporting the underside of the target object(s) via a third clamping component), planning a movement path between the picking location and the placement location while avoiding contact with the surrounding environment, planning a release operation (e.g., identifying the placement location, aligning the end-of-arm tool at the identified location, disengaging the third clamping component, lowering the end-of-arm tool into place, actuating the second clamping component to release the target object(s), etc.), planning a movement path away from the placement location (e.g., a departure trajectory), and / or any other suitable details. In some embodiments, planning the grasp operation includes generating commands for each stage of the grasp operation that can be executed by the end-of-arm tool and / or any controller coupled thereto to perform the grasp operation. Additionally, planning the grasp operation at block 803 includes generating commands for one or more components of a robotic system (e.g., robotic system 100 of FIG. 1 ) and / or its components (e.g., robotic unit 300 of FIG. 3 , end-of-arm tool 400 of FIG. 4 , etc.) to execute to complete one or more of the above-mentioned operations.For example, as shown in FIG. 8A, planning the grasping operation in block 803 may include generating commands to clamp and / or point the target object(s), generating commands to transport the target object(s), generating commands to release the target object(s), and / or generating commands to move away from the placement location.

[0080] In planning a gripping operation, the process 800 can derive a gripping position on the target object(s) such that the sides of the target object(s) align with (or are located near) the longitudinal axis ends of the first and second clamping components (e.g., as shown in FIGS. 5A-7E). The alignment allows the end-of-arm tool to place the target object(s) near previously placed objects and / or barriers at the placement location. Additionally, the process 800 can plan the target clamping positions and / or motions of the clamping elements (also referred to as planned gripping positions). For example, the process 800 can identify a starting position of a first clamping element and an expected travel distance of a second clamping element to engage the target object(s) therebetween. The planning can enable the robot system 100 (and / or its end-of-arm tool) to operate at a faster speed, a slower sampling frequency to monitor feedback sensors, or a similar setting for operating the clamping components, particularly if the clamping components are outside a threshold distance from the planned gripping position. The robotic system 100 can then adjust settings such as movement speed, sampling sensitivity, etc. when the clamping components are close to the expected clamping position (e.g., when the first and second clamping components are within a threshold distance of the expected engagement with the target object(s)).

[0081] At blocks 804-808, the process 800 then includes performing the planned gripping operation. At block 804, the process 800 includes gripping the target object(s). Additional details regarding the gripping process are described below with respect to FIG. 8B. At block 806, the process 800 includes transporting the target object(s) from the pick location to a placement location along the travel path planned at block 803. In some embodiments, block 806 includes monitoring the environment during the transport to detect and avoid hazards and / or obstacles (e.g., humans and / or other robotic structures moving near the end-of-arm tool). At block 808, the process includes releasing the target object(s) at the placement location. Additional details regarding the placement process are described below with respect to FIG. 8C.

[0082] 8B is a flow diagram of a process 810 for picking one or more target objects during a packing operation at block 804 of FIG. 8A in accordance with some embodiments of the present technology. Process 800 can be performed by a controller on the end-of-arm tool itself and / or by an external controller (e.g., controller 109 of FIG. 1 with control unit 202 of FIG. 2). Additionally, each step of process 810 can be scheduled at block 803 of FIG. 8A.

[0083] At block 812, the process 810 includes aligning the end-of-arm tool with the target object(s) at the pick-up location. As shown in Figures 5A and 6A, alignment may include placing a first clamp component in contact with (or adjacent to) a first side of the target object(s) to reduce travel of the second clamp component and / or reduce the distance the second clamp component must push the target object(s). Additionally, as described above, alignment may include aligning a longitudinal end of the end-of-arm tool with (or approximately) the second side of the target object(s).

[0084] At block 814, the process 810 includes actuating the second clamp component and the first clamp component, for example, as shown in FIGS. 5B and 6B. The actuation can be driven by an actuator system and / or any other suitable components under the control of the controller 109 of FIG. 1. As a result of the actuation, the second clamp component contacts a third side of the target object(s) opposite the first side, forcing the target object(s) into the first clamp component. In some embodiments, the process 810 can end after block 814 with the first and second clamp components engaging the target object (e.g., without engaging the third clamp component). In other embodiments, the process 810 continues to block 816.

[0085] At block 816, the process 810 includes moving the end-of-arm tool to expose at least a portion of the underside of the target object(s), as shown, for example, in FIG. 5C. Block 816 can be performed by a robotic unit (e.g., robotic unit 300, FIG. 3) and / or any other suitable components under the control of controller 109, FIG. 1. In various embodiments, the movement can be purely lateral (e.g., partially pulling the target object(s) away from a conveyor belt or other pick-up location before applying support to the underside), partially vertical, and / or purely vertical (e.g., lifting the target object(s) into position). Additionally, in some embodiments, the process 810 can skip block 816 and move directly to block 818 (e.g., if a portion of the underside is already exposed and / or if the extension of the third clamp component is thin enough).

[0086] At block 818, process 810 includes actuating a third clamping component to engage the underside of the target object(s), as shown, for example, in FIGS. 5D and 6C. Similar to process 810 at block 814, actuation of the third clamping component can be driven by an actuator system under control of controller 109 of FIG. 1 and / or any other suitable component. Engaging the underside of the target object(s) can increase stability of the target object(s) during transport, which can be particularly useful for heavy objects and / or high speed transport.

[0087] 8C is a flow diagram of a process 820 for placing one or more target objects during a packing operation of block 808 of FIG. 8A according to some embodiments of the present technology. Process 800 can be performed by a controller of the end-of-arm tool itself and / or by an external controller (e.g., controller 109 of FIG. 1 with control unit 202 of FIG. 2). Additionally, each step of process 820 can be scheduled in block 803 of FIG. 8A.

[0088] At block 822, the process 820 includes aligning the end-of-arm tool to the placement location. Alignment may position the end-of-arm tool directly above and / or adjacent to the placement location. The alignment process may be performed by the robotic unit (e.g., robotic unit 300 of FIG. 3) under the control of the controller 109 of FIG. 1 and / or any other suitable components. In some embodiments, the alignment is based on a planned placement location (e.g., plan 700 of FIG. 7A). Alignment based on the placement plan may allow the end-of-arm tool to move quickly while grasping the target object(s). In some embodiments, the alignment is responsive to an analysis of the placement location as the end-of-arm tool approaches. For example, the sensor system 450 of FIG. 4 may use the controller 109 of FIG. 1 and / or any other suitable components to obtain image data of the placement location as the end-of-arm tool approaches that determines the appropriate placement location of the target object(s). Reactive alignment may enable the end-of-arm tool to be used in combination with one or more other components (eg, a second end-of-arm tool, a human, another robotic system, etc.).

[0089] At block 824, the process 820 includes actuating the third clamp component to disengage the lower surface of the target object(s). The actuation can be driven by an actuator system and / or any other suitable components under the control of the controller 109 of FIG. 1. As a result of the actuation, the extension of the third clamp component can move out of the way when the end-of-arm tool releases the target object(s) at the placement location. In some embodiments, the process 820 can perform block 824 before (or at the same time as) block 822 to disengage the lower surface of the target object(s) before (or while) the end-of-arm tool is aligned to the placement location. In some embodiments, the process 820 can skip block 824 (e.g., when the third clamp component is not being used).

[0090] At block 826, process 820 includes moving the end-of-arm tool to a placement position, for example as shown in FIGS. 7B-7E. In various embodiments, the movement of the end-of-arm tool can be fully vertical, have a lateral component, and / or be fully lateral to place the target object(s) at the placement location. The movement can be controlled by a robotic unit (e.g., robotic unit 300 of FIG. 3) under control of controller 109 of FIG. 1 and / or any other suitable components. In some embodiments, process 820 performs block 826 before block 824 (e.g., if the target object(s) need to be supported until the extension is released).

[0091] At block 828, the process 820 includes actuating the second clamp component away from the first clamp component. The actuation can be driven by an actuator system and / or any other suitable components under the control of the controller 109 of FIG. 1. Furthermore, the actuation disengages the target object(s), thereby releasing the target object at the placement location without having to move the first clamp component. As a result, the placement location can be spaced apart from other objects (e.g., a previously placed target object) by a distance approximately equal to the thickness of the first clamp component.

[0092] At block 830, the process 820 includes lifting the end-of-arm tool away from the target object(s) and away from the placement location. The departure can be controlled by a robotic unit (e.g., robotic unit 300 of FIG. 3) under control of the controller 109 of FIG. 1 and / or any other suitable components based on a planned trajectory and / or real-time information about the surrounding environment.

[0093] Once process 820 is completed, the system can return to block 802 of FIG. 8A for the next set of one or more target object(s). In some embodiments, the parameter(s) of the next target object(s) are the same (or substantially similar), allowing the system to allow process 800 of FIG. 8A to move quickly to block 803 and reuse parts of the planned grasping motion (e.g., the planned configuration for the end-of-arm tool). In some embodiments, the parameter(s) of the next target object are different, requiring process 800 of FIG. 8A to plan an entirely new grasping motion.

[0094] Further embodiments 9 and 10 are partial top schematic views of packing operation plans 900, 1000 according to further embodiments of the present technology. The plans 900, 1000 shown in Figs. 9 and 10 can be implemented for loading target objects into shipping units 910, 1010 (e.g., as an alternative to plan 700 of Fig. 7A based on different weight distributions, different sizes, and / or planned circumferences of the target objects, and / or any other suitable factors).

[0095] In the embodiment shown in Figure 9, the plan 900 includes the locations of a first group of target objects 912, a second target object 914 adjacent to the first group of target objects 912, a third target object 916 adjacent to the second target object 914 and the first group of target objects 912, and a fourth group of target objects 918 adjacent to the second and third target objects 914, 916 on the opposite side of the first group of target objects 912. As further shown in Figure 9, the plan 900 can call for the end-of-arm tool to grasp a group of four target objects at a time. Additionally, in various embodiments, the end-of-arm tool can be configured to grasp one target object, two target objects, three target objects, four target objects, five target objects, and / or any other suitable group size.

[0096] In the embodiment shown in FIG. 10, the plan 1000 includes the locations of a first group of target objects 1012, a second group of target objects 1014 adjacent to the first group of target objects 1012, and a third group of target objects 1016 adjacent to the second group of target objects 1014 on the opposite side of the first group of target objects 1012. As further shown in FIG. 10, the plan 1000 may require an end-of-arm tool to grasp a group of target objects of various orientations and various sizes. For example, each of the target objects in the third group of target objects 1016 is smaller than the target objects in the second group of target objects 1014. Additionally, each of the target objects in the third group of target objects 1016 has a major axis rotated 90 degrees from the major axis of the target objects in the second group of target objects 1014.

[0097] 11A and 11B are partial schematic diagrams illustrating an end-of-arm tool 1100 at various stages of a packaging operation, according to some embodiments of the present technology. As shown in FIG. 11A, the end-of-arm tool 1100 is generally similar to the end-of-arm tool 400 described above with reference to FIG. 4. For example, the end-of-arm tool 1100 includes a frame 1102, an actuator system 1110, a first clamp component 1120, a second clamp component 1130, and a third clamp component 1140, each carried by the frame 1102. Additionally, the actuator system 1110 is coupled to the first and second clamp components 1130, 1140 to move the first and second clamp components 1130, 1140 in all of the manners described above.

[0098] 11A, the end-of-arm tool 1100 includes one or more retractable grippers 1160 (three are shown in FIG. 11A). In the illustrated embodiment, the retractable grippers include a first gripper 1161 positionable adjacent the first clamp component 1120 and two second grippers 1165 carried by the third clamp component 1140. The first gripper 1161 includes a pivotable arm 1162, an extendable arm 1164 coupled to the pivotable arm 1162, and a suction gripping component 1168 carried by a distal end of the pivotable arm 1162. The pivotable arm 1162 is coupled to the frame 1102 and is movable along a fifth motion path E between a first position (e.g., as shown in FIG. 4) and a second position (e.g., as shown in FIG. 11A) by extension and contraction of the extendable arm 1164. In various embodiments, the extendable arm 1164 may include a telescopic component (e.g., a piston), an extension track, and / or any other suitable component. When the pivotable arm 1162 is in the first position, the suction gripping component 1168 is positioned above the bottom edge of the end-of-arm tool 1100 and therefore does not interfere with the gripping action described above. In some embodiments (e.g., as shown in FIG. 4 ), when the pivotable arm 1162 is in the first position, the suction gripping component 1168 is at approximately the same height as the frame 1102 and is completely above any of the clamping components and / or any target object engaged therewith. When the pivotable arm 1162 is in the second position, the suction gripping component 1168 is positioned below the bottom edge of the end-of-arm tool 1100.

[0099] Each of the second grippers 1165 includes an extendable arm 1166 carried by an outer surface of the third clamp component 1140 and a suction gripping component 1168 carried by a distal end of the extendable arm 1166. Similar to the pivotable arm 1162, the extendable arm 1166 (e.g., a telescopic component, a telescopic track, etc.) is movable along a sixth motion path F between a first position and a second position. When the extendable arm 1166 is in the first position, the suction gripping component 1168 is positioned above the lower edge of the arm end tool 1100 (e.g., at a height above the lower edges of the first and / or second clamp components of the arm end tool 1100). Thus, it does not impede the movement of the arm end tool 1100 during the gripping operation described above. When the extendable arm 1166 is in the second position, the suction gripping component 1168 is positioned below the lower edge of the arm end tool 1100 (e.g., at a height below the lower edges of the first and / or second clamp components of the arm end tool 1100).

[0100] 11A, the suction gripping component 1168 can be used to grip a divider 20 when the suction gripping component 1168 is under the bottom edge of the end-of-arm tool 1100. The divider 20 can be a slip-sheet or other suitable component that separates layers and / or groups of target objects within a transport unit. For example, as shown in FIG. 11B, the end-of-arm tool can use the suction gripping component 1168 to place a divider 20 on top of a layer of target objects 10c before placing another layer.

[0101] 12 is a partial schematic diagram of an end-of-arm tool configured in accordance with a further embodiment of the present technology. As shown in FIG. 12, the end-of-arm tool 1200 is generally similar to the end-of-arm tool 400 described above with reference to FIG. 4. For example, the end-of-arm tool 1200 includes a frame 1202, a connection flange 1204, an actuator system 1210, a first clamp component 1220, a second clamp component 1230, and a third clamp component 1240, each carried by the frame 1202. Additionally, the actuator system includes one or more tracks 1212 (one shown in FIG. 12), two or more carriages 1214 (one labeled and two shown) coupling the second clamp component 1230 and the third clamp component 1240 to the track(s) 1212, and one or more drivers 1216 operably coupled to the carriages 1214 to drive their movement along the track(s) 1212. Further, as the carriages 1214 move along the track(s) 1212, they move the corresponding one of the second clamp component 1230 and the third clamp component 1240 toward and away from the first clamp component 1220.

[0102] FIG. 12 also shows details of each of the first, second, and third clamp components 1220, 1230, 1240. For example, the first clamp component 1220 is a rigid material having a thickness T2 between about 1 mm and about 3 cm to reduce the distance between the target objects manipulated by the end-of-arm tool 1200. The second clamp component 1230 includes a gripping substrate 1236 on the second clamping surface 1232. The gripping substrate 1236 can be a sticky material and / or a material with a relatively high coefficient of static friction. As a result, the gripping substrate 1236 can help reduce the amount of slippage of the target object between the first and second clamp components 1220, 1230. The third clamp component 1240 includes an extension portion 1242 that extends across (or nearly across) the longitudinal span of the third clamp component 1240. As a result, there are no gaps along the extension portion 1242, which helps support objects of any size and / or thickness. EXAMPLES

[0103] The present technology is described according to various aspects, for example, as described below. Various examples of aspects of the present technology are described as numbered examples (1, 2, 3, etc.) for convenience. These are provided as examples and are not intended to limit the present technology. It should be noted that any of the dependent examples can be combined in any suitable manner and arranged within their own independent examples. Other examples can be presented as well.

[0104] 1. An end-of-arm tool comprising: A frame, a first clamp component carried by the frame and extending along a first axis; a second clamp component carried by the frame and extending along the first axis; a third clamp component carried by a frame around the second clamp component relative to the first clamp component, the third clamp component extending along the first axis and including one or more extensions extending below a lower edge of the second clamp component toward the first clamp component; an actuator system carried by the frame and operatively coupled to the second clamp component and the third clamp component to independently move the second clamp component and the third clamp component along a second axis at least partially orthogonal to the first axis.

[0105] 2. The actuator system is a track carried by the frame and extending along a second axis; a first carriage operatively coupled between the track and the second clamp component for moving the second clamp component along the second axis; and a second carriage operably coupled between the track and the third clamp component for moving the third clamp component along a second axis.

[0106] 3. The end-of-arm tool of example 1 or 2, wherein the second clamp component includes a reinforcing bracket coupled to the actuator system and extending along a third axis at least partially perpendicular to the first axis and the second axis.

[0107] 4. The end-of-arm tool of example 3, wherein the third clamp component is aligned with the reinforcing bracket along the second axis and includes an opening configured to nest with the reinforcing bracket when the third clamp component is adjacent to the second clamp component.

[0108] 5. The end-of-arm tool of any one of Examples 1 to 4, wherein the second clamp component includes a clamping surface oriented toward the first clamping component, and the second clamping component further includes a gripping substrate disposed on the clamping surface.

[0109] 6. The end-of-arm tool of any one of Examples 1 to 5, wherein the first clamp component has a thickness of less than 3 centimeters.

[0110] 7. An end-of-arm tool as described in any of Examples 1 to 6, further comprising an imaging system carried by the frame and positioned to measure one or more parameters of a target object adjacent to the end-of-arm tool.

[0111] 8. Further comprising one or more retractable arms carried by the frame, each of the one or more retractable arms including a suction gripping component and movable between a first position and a second position; In the first position, the suction gripping component is at a first height above a lower edge of the second clamp component; The end-of-arm tool of any of Examples 1 to 7, wherein in the second position, the suction gripping component is at a second height below a lower edge of the second clamp component.

[0112] 9. A method for operating an end-of-arm tool, comprising: identifying parameters of one or more target objects, the parameters including dimensions of the one or more target objects; Identifying planned placement locations of one or more target objects at a destination; generating commands to grasp one or more target objects, the end-of-arm tool includes a frame, a first clamp component carried by the frame, a second clamp component carried by the frame, and a third clamp component around the second clamp component carried by the frame, the third clamp component including an extension portion extending under a lower edge of the second clamp component toward the first clamp component; gripping the one or more target objects includes engaging opposing sides of the one or more target objects with the first and second clamp components and engaging a bottom surface of the one or more target objects with an extension portion of a third clamp component; generating commands to transport one or more target objects from a pick-up location to a destination planned placement location; generating commands to release one or more target objects at the planned placement location; A method comprising:

[0113] 10. Generating commands to grasp one or more target objects includes: generating a command to align a first clamping component adjacent a first side of one or more target objects at a pick-up location; generating a command to move a second clamping component along a transverse axis of the frame toward the first clamping component to engage a second side of the one or more target objects at the pick-up location; and generating a command to move a third clamp component along a horizontal axis of the frame toward the first clamp component to position an extension portion of the third clamp component under a lower surface of one or more target objects.

[0114] 11. The method of Example 10, wherein generating a command to grasp one or more target objects further includes generating a command to move an end-of-arm tool after moving the second clamp component and before moving the third clamp component to at least partially expose an underside of the one or more target objects to be engaged by the extension portion of the third clamp component.

[0115] 12. Releasing a command to grasp one or more target objects includes: generating a command to move the third clamping component away from the first clamping component along a lateral axis of the frame to disengage from the lower surface of the one or more target objects; generating commands to align one or more target objects to a planned placement location; generating a command to move the second clamping component away from the first clamping component along a transverse axis of the frame to disengage from the one or more target objects; and generating a command to lift the end-of-arm tool from the planned placement position.

[0116] 13. The method of example 12, wherein generating a command to lift the end-of-arm tool away from the planned placement position includes generating a command to move the end-of-arm tool vertically to avoid contact movement of the one or more target objects through contact with the first clamp component.

[0117] 14. The method of any of Examples 9 to 13, wherein the planned placement location is spaced from the one or more previously placed target objects by a distance approximately equal to a thickness of the first clamp component.

[0118] 15. The method of example 14, wherein generating a command to release one or more target objects includes generating a command to orient the end-of-arm tool with a first clamp component between the one or more previously placed target objects and the one or more target objects.

[0119] 16. A robot system comprising: 1. An object grasping mechanism operably coupleable to a robotic arm, the object grasping mechanism comprising: a frame having a first axis and a second axis perpendicular to the first axis; an actuator system carried by the frame; an outer clamp component carried by the frame, the outer clamp component extending along a first axis along an outer edge of the frame; an inner clamp component operably coupled to an actuator system and extending along a first axis, the actuator system configured to move the inner clamp component along a second axis toward and away from the outer clamp component to engage one or more target objects between the outer clamp component and the inner clamp component; a support clamp component operably coupled to an actuator system, the support clamp component extending along a first axis and disposed about the inner clamp component, the support clamp component including at least one extension portion extending toward the outer clamp component, the actuator system configured to move the support clamp component toward and away from the outer clamp component along a second axis; A robot system comprising:

[0120] 17. The object grasping mechanism is a first retractable gripper coupled to an outer surface of the support clamp component, the first retractable gripper including a first suction gripper, the first retractable gripper being movable between a first position that holds the first suction gripper above a bottom edge of the outer clamp component and a second position that holds the first suction gripper below the bottom edge of the outer clamp component; The robot system of Example 16, further comprising: a second retractable gripper coupled to the frame, the second retractable gripper including a second suction gripper, the second retractable gripper being movable between a third position that holds the second suction gripper above a lower edge of the inner clamp component and a fourth position that holds the second suction gripper below the lower edge of the inner clamp component.

[0121] 18. The robotic system of any of examples 16 or 17, wherein the actuator system is configured to move the outer clamp component toward and away from the inner clamp component along a second axis.

[0122] 19. A robot system described in any of Examples 16 to 18, wherein the object gripping mechanism further includes an imaging system carried by the frame and positioned to measure one or more parameters of a target object adjacent to the object gripping mechanism.

[0123] 20. A controller operatively coupled to the robotic arm and object grasping mechanism, the controller, when executed by the controller, causing the controller to: aligning an external clamping component adjacent a first side of the one or more target objects at a pick-up location via the robotic arm; moving the inner clamping component along the second axis toward the outer clamping component via the actuator system to engage a second side of the one or more target objects at the pick-up location and force the one or more target objects into the outer clamping component; A robot system described in any of Examples 16 to 19, further comprising a controller that moves the support clamp component along a second axis toward the outer clamp component via the actuator system to position at least one extension portion under a lower surface of one or more target objects.

[0124] 21. A robot system described in any one of Examples 16 to 20, further comprising a robot arm operably coupled to the object gripping mechanism.

[0125] conclusion From the foregoing, it will be understood that, although certain embodiments of the present technology are described herein for illustrative purposes, well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the present technology. To the extent that materials incorporated herein by reference conflict with the present disclosure, the present disclosure shall control. Where the context permits, singular or plural terms may also include plural or singular terms, respectively. Furthermore, unless the word "or" is expressly limited with reference to a list of two or more items to mean only a single item exclusively 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, as 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 the inclusion of at least the recited feature(s), so as not to exclude any greater number of the same and / or additional types of features. Furthermore, the terms "approximately" and "about" are used herein to mean within at least 10 percent of a given value or limit. Purely by way of example, an approximate ratio means within 10 percent of a given ratio.

[0126] From the foregoing, it will also be appreciated that various modifications may be made without departing from the present disclosure or technology. For example, one skilled in the art will appreciate that the various components of the technology may be further divided into subcomponents, or that the various components and functions of the technology may be combined and integrated. In certain examples, as discussed above, the end-of-arm tool is described herein as having a primarily fixed first clamp component, but the first clamp component may be coupled to an actuator system to move toward and away from the second clamp component. In some embodiments, only the first clamp component is coupled to an actuator system. In such embodiments, the end-of-arm tool may be positioned such that the second and third clamp components are adjacent to a pick-up location (e.g., on a conveyor belt), and the first clamp component may be actuated to bring one or more target objects into contact with the second clamp component and / or into a position supported by the third clamp component. In various other embodiments, any of the first, second, and third clamp components may be coupled to an actuator system to move along a transverse axis as desired. In addition, certain aspects of the technology described in the context of particular embodiments may also be combined or eliminated in other embodiments. Moreover, although advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments necessarily need to exhibit such advantages to fall within the scope of the technology. Thus, the present disclosure and associated technology can encompass other embodiments not explicitly shown or described herein.

Claims

1. An end of arm tool comprising: A frame, a first clamp component carried by the frame and extending along a first axis; a second clamp component carried by the frame and extending along the first axis; and a third clamp component carried by the frame around the second clamp component relative to the first clamp component, the third clamp component extending along the first axis and including one or more extensions extending below a lower edge of the second clamp component toward the first clamp component; an actuator system carried by the frame and operatively coupled to the second clamp component and the third clamp component to independently move the second clamp component and the third clamp component along a second axis at least partially orthogonal to the first axis; An end-of-arm tool.

2. The actuator system comprises: a track carried by the frame and extending along the second axis; a first carriage operatively coupled between the track and the second clamp component for moving the second clamp component along the second axis; a second carriage operatively coupled between the track and the third clamp component for moving the third clamp component along the second axis; Equipped with The end of arm tool of claim 1 .

3. the second clamp component includes a reinforcing bracket coupled to the actuator system and extending along a third axis at least partially orthogonal to the first axis and the second axis. The end of arm tool of claim 1 .

4. the third clamp component is aligned with the reinforcing bracket along the second axis and includes an opening configured to nest with the reinforcing bracket when the third clamp component is adjacent to the second clamp component. The end of arm tool of claim 3 .

5. the second clamp component includes a clamping surface oriented toward the first clamp component, the second clamp component further including a gripping substrate disposed on the clamping surface. The end of arm tool of claim 1 .

6. the first clamp component has a thickness of less than 3 centimeters; The end of arm tool of claim 1 .

7. and an imaging system carried by the frame and positioned to measure one or more parameters of an object adjacent the end-of-arm tool. The end of arm tool of claim 1 .

8. further comprising one or more retractable arms carried by the frame, each of the one or more retractable arms including a suction gripping component and movable between a first position and a second position; in the first position, the suction gripping component is at a first height above the bottom edge of the second clamp component; In the second position, the suction gripping component is at a second height below the bottom edge of the second clamp component. The end of arm tool of claim 1 .

9. 1. A method for operating an end of arm tool, comprising: identifying parameters of one or more target objects, the parameters including dimensions of the one or more target objects; identifying a planned placement location of the one or more target objects at a destination; generating commands to grasp the one or more target objects, the end-of-arm tool including a frame, a first clamp component carried by the frame, a second clamp component carried by the frame, and a third clamp component around the second clamp component carried by the frame, the third clamp component including an extension portion extending below a bottom edge of the second clamp component toward the first clamp component; gripping the one or more target objects includes engaging opposing sides of the one or more target objects with the first and second clamp components and engaging a bottom surface of the one or more target objects with an extension portion of the third clamp component; generating commands to transport the one or more target objects from a pick-up location to the planned placement location at the destination; generating commands to release the one or more target objects at the planned placement location; The method includes:

10. Generating commands to grasp the one or more target objects includes: generating a command to align the first clamping component adjacent a first side of the one or more target objects at the pick-up location; generating a command to move the second clamping component along a lateral axis of the frame toward the first clamping component to engage a second side of the one or more target objects at the pick-up location; generating the commands to move the third clamping component along the lateral axis of the frame toward the first clamping component to position the extension portion of the third clamping component under the lower surface of the one or more target objects; Including, 10. The method of claim 9.

11. generating commands to grasp the one or more target objects further includes generating the commands to move the end-of-arm tool after moving the second clamp component and before moving the third clamp component to at least partially expose the underside of the one or more target objects to be engaged by the extension portion of the third clamp component. The method of claim 10.

12. Generating the commands to release the one or more target objects includes: generating a command to move the third clamping component away from the first clamping component along a lateral axis of the frame to disengage the third clamping component from the lower surface of the one or more target objects; generating commands to align the one or more target objects to the planned placement location; generating a command to move the second clamping component away from the first clamping component along the lateral axis of the frame to disengage the one or more target objects; generating a command to lift the end-of-arm tool from the planned placement location; 10. The method of claim 9, comprising:

13. generating a command to lift the end-of-arm tool away from the planned placement location includes generating the command to move the end-of-arm tool vertically to avoid tangential movement of the one or more target objects through contact with the first clamp component. The method of claim 12.

14. the planned placement location is spaced from one or more previously placed target objects by a distance approximately equal to a thickness of the first clamp component; 10. The method of claim 9.

15. generating a command to release the one or more target objects includes generating the command to orient the end-of-arm tool with the first clamp component between the one or more previously placed target objects and the one or more target objects. The method of claim 14.

16. 1. A robot system comprising:

1. An object gripping mechanism operably coupleable to a robotic arm, the object gripping mechanism comprising: a frame having a first axis and a second axis perpendicular to the first axis; an actuator system carried by the frame; an outer clamp component carried by the frame, the outer clamp component extending along the first axis along an outer edge of the frame; an inner clamp component operatively coupled to the actuator system and extending along the first axis, the actuator system configured to move the inner clamp component along the second axis toward and away from the outer clamp component to engage one or more objects between the outer clamp component and the inner clamp component; the object gripping mechanism comprising: a support clamp component operatively coupled to the actuator system, the support clamp component extending along the first axis and disposed around the inner clamp component, the support clamp component including at least one extension portion extending toward the outer clamp component, the actuator system configured to move the support clamp component along the second axis toward and away from the outer clamp component; Equipped with Robot system.

17. The object gripping mechanism includes: a first retractable gripper coupled to an outer surface of the support clamp component, the first retractable gripper including a first suction gripper movable between a first position that holds the first suction gripper above a bottom edge of the outer clamp component and a second position that holds the first suction gripper below the bottom edge of the outer clamp component; a second retractable gripper coupled to the frame, the second retractable gripper including a second suction gripper movable between a third position that holds the second suction gripper above a bottom edge of the inner clamp component and a fourth position that holds the second suction gripper below the bottom edge of the inner clamp component; Further comprising: The robotic system of claim 16.

18. the actuator system is configured to move the outer clamp component toward and away from the inner clamp component along the second axis. The robotic system of claim 16.

19. the object gripping mechanism further includes an imaging system carried by the frame and positioned to measure one or more parameters of a target object adjacent the object gripping mechanism. The robotic system of claim 16.

20. a controller operatively coupled to the robotic arm and the object grasping mechanism, the controller storing instructions that, when executed by the controller, cause the controller to: aligning the external clamping component adjacent a first side of one or more target objects at a pick-up location via the robot arm; moving the inner clamp component along the second axis towards the outer clamp component via the actuator system to engage a second side of the one or more target objects at the pick-up location and force the one or more target objects into the outer clamp component; moving the support clamp component along the second axis toward the outer clamp component via the actuator system to position the at least one extension portion below a lower surface of the one or more target objects. The controller further comprises: The robotic system of claim 16.

Images