Adjustable arm end tool or fastener

Abstract

Adjustable arm end tools and fixtures for robots are disclosed. [Solution] The adjustment of the adjustable arm end tool and the fixing device can each have multiple degrees of freedom for positioning the tool interface in one of multiple configurations.

Description

Technical Field

[0001] Related Applications This application claims the benefit of U.S. Provisional Patent Application No. 63 / 209,878, filed on June 1, 2021, entitled "ADJUSTABLE END-OF-ARM TOOL OR FIXTURE", the entire disclosure of which is hereby expressly incorporated herein by reference.

[0002] Background An end-of-arm tool can be used to manipulate an object, or a fixture can be used to support an object. However, such devices and fixtures are typically designed for a specific object, and as a result, operating or supporting a different object involves replacing the end-of-arm tool or fixture with another dedicated device or fixture. Such specialization can introduce manufacturing delays (e.g., as a result of the time required to switch the device and fixture), introduce additional complexity (e.g., for planning and programming the change), and may require additional space (e.g., for storing multiple devices and using multiple fixtures).

[0003] Embodiments are described with respect to these and other general considerations. Although relatively specific problems have been discussed, it should be understood that the embodiments should not be limited to solving the specific problems identified in the background art.

[0004] Summary ​In exemplary embodiments of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool comprises a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers, the tool including a first interface that is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links and a second plurality of couplers connecting the plurality of links to a base, wherein the first plurality of couplers provide at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers, the second tool including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

[0005] In another exemplary embodiment of the present disclosure, an adjustable fixture for receiving an object is provided. The adjustable fixture comprises a base, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool includes a first interface extending above the base. The first interface is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links, a second plurality of couplers coupling the plurality of links to the base, the first plurality of couplers providing at least two degrees of freedom, and the second plurality of links and the second plurality of couplers The device comprises a second tool coupled to the base. The second tool includes a second interface extending above the base. The second interface is positionable relative to the base at multiple locations based on a second plurality of links and a second plurality of couplers.

[0006] Further exemplary embodiments of the present disclosure provide a method for controlling an adjustable assembly of an EOAT for a robot. The method includes identifying a first configuration associated with a first object; configuring the adjustable assembly such that the interface of the adjustable assembly has a first position relative to the base of the adjustable assembly; engaging a tool with the adjustable assembly so that the adjustable assembly grips and engages the first object; disengaging the tool with the adjustable assembly; identifying a second configuration associated with a second object; configuring the adjustable assembly such that the interface of the adjustable assembly has a second position relative to the base of the adjustable assembly, wherein the second position is different from the first position; engaging a tool with the adjustable assembly so that the adjustable assembly grips and engages the second object; and disengaging the tool with the adjustable assembly.

[0007] In yet another exemplary embodiment of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool comprises a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool includes a first interface that is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links, a second plurality of couplers coupling the plurality of links to the base, the first plurality of couplers providing at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool includes a second interface that can be positioned relative to the base at multiple positions based on a second set of links and a second set of couplers.

[0008] In one example, at least one of the first tool and the second tool is a magnetic gripper. In another example, the base has a longitudinal central plane. A first adjustable assembly is positioned on the first side of the longitudinal central plane, and a second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side. In one modification, the base includes a linear rail defining a first axis. In another modification, the first plurality of couplers enable linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, and linear motion along a third axis perpendicular to both the first and second axes. In a further modification, the first plurality of links include a first linear rail parallel to the second axis and slidably coupled to the linear rail, and a second linear rail parallel to the third axis and slidably coupled to the first linear rail.

[0009] In a further example, the first plurality of couplers allows rotation about at least one of the first axis, the second axis, and the third axis. In one variation, the first plurality of couplers allows rotation about at least two of the first axis, the second axis, and the third axis. In a further variation, the first plurality of couplers allows rotation about each of the first axis, the second axis, and the third axis. In yet another variation, the first plurality of couplers allows rotation about each of the first axis, the second axis, and the third axis, and the first axis, the second axis, and the third axis intersect at a common point.

[0010] In yet another example, the first and second tools are each single-sided tools. In one variation, the single-sided tool is one of a magnetic gripper, a suction gripper, a pink ramp, or a locator.

[0011] In yet another example, the first and second tools are each double-sided tools. In a variation, the double-sided tool is one of the following: a power clamp, a parallel clamp, a swing unit, a multi-finger gripping device, or a Mylar gripping device.

[0012] In yet another example, the adjustable arm end tool further comprises a third adjustable assembly coupled to the base. The third adjustable assembly comprises a third plurality of links and a third plurality of couplers connecting the third plurality of links to the base, providing at least two degrees of freedom, and a third tool coupled to the base through the third plurality of links and the third plurality of couplers. In one variation thereof, the base has a longitudinal central plane. The first and third adjustable assemblies are located on the first side of the longitudinal central plane, and the second adjustable assembly is located on the second side of the longitudinal central plane, the second side being opposite to the first side. In a further modification, the first set of links and couplers provide six degrees of freedom for positioning the first tool relative to the base; the second set of links and couplers provide six degrees of freedom for positioning the second tool relative to the base; and the third set of links and couplers provide six degrees of freedom for positioning the third tool relative to the base. In yet another modification, each of the first, second, and third adjustable assemblies is independently coupled to the base.

[0013] In yet another example, the first set of links and couplers provide six degrees of freedom for positioning the first tool relative to the base, and the second set of links and couplers provide six degrees of freedom for positioning the second tool relative to the base. In one variation, each of the first and second adjustable assemblies is independently coupled to the base.

[0014] In yet another example, the adjustable arm-end tool further includes a controller configured to configure a first adjustable assembly and a second adjustable assembly according to the first configuration in order to identify a first configuration associated with a first object, position a first interface of the first tool at a first position relative to the base, and position a second interface of the second tool at a second position relative to the base. In one variation thereof, the controller is further configured to configure a first adjustable assembly and a second adjustable assembly according to the second configuration in order to identify a second configuration, different from the first configuration, associated with a second object, position a first interface of the first tool at a third position relative to the base, and position a second interface of the second tool at a fourth position relative to the base.

[0015] Further exemplary embodiments of the present disclosure provide an adjustable fixture for receiving an object. The adjustable fixture comprises a base, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the first plurality of links to the base, providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool includes a first interface extending above the base. The first interface is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links, and A second plurality of couplers connecting a plurality of links and a base, the second plurality of couplers comprising a second plurality of couplers providing at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool includes a second interface extending above the base. The second interface is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

[0016] In one example, the first and second tools are each single-sided tools. In one variation, the single-sided tool is one of the following: a magnetic gripper, a suction gripper, a pink ramp, or a locator.

[0017] In another example, the first and second tools are both double-sided tools. In a further example, the adjustable fixture further comprises a controller configured to configure a first adjustable assembly and a second adjustable assembly according to the first configuration in order to identify a first configuration associated with a first object, position a first interface of a first tool at a first position relative to the base, and position a second interface of a second tool at a second position relative to the base. In one variation thereof, the first configuration associated with the first object is identified according to a sequence including a first object and a second object, and the controller is further configured to identify a second configuration associated with a second object according to the sequence, and to configure a first adjustable assembly and a second adjustable assembly according to the second configuration in order to position a first interface of a first tool at a third position relative to the base, and position a second interface of a second tool at a fourth position relative to the base.

[0018] In yet another example, the first set of links and couplers provide six degrees of freedom for positioning the first tool relative to the base, and the second set of links and couplers provide six degrees of freedom for positioning the second tool relative to the base. In one variation, each of the first and second adjustable assemblies is independently coupled to the base.

[0019] In a further variation of this, the first coupler allows rotation around each of the first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first and second axes, with the first, second, and third axes intersecting at a common point.

[0020] In yet another exemplary embodiment of the present disclosure, a method is provided for controlling an adjustable assembly of an EOAT for a robot. The method includes identifying a first configuration associated with a first object; configuring the adjustable assembly such that the interface of the adjustable assembly has a first position relative to the base of the adjustable assembly; engaging a tool with the adjustable assembly so that the adjustable assembly grips and engages the first object; disengaging the tool with the adjustable assembly; identifying a second configuration associated with a second object; configuring the adjustable assembly such that the interface of the adjustable assembly has a second position relative to the base of the adjustable assembly, wherein the second position is different from the first position; engaging a tool with the adjustable assembly so that the adjustable assembly grips and engages the second object; and disengaging the tool with the adjustable assembly.

[0021] In one example, a first configuration associated with a first object is identified according to a stored sequence including the first and second objects, and a second configuration associated with a second object is identified according to a stored sequence.

[0022] In another example, a first configuration associated with a first object is identified in response to detecting the first object using computer vision, and a second configuration associated with a second object is identified in response to detecting the second object using computer vision.

[0023] In a further example, configuring an adjustable assembly according to a first configuration includes detecting a first object using computer vision and dynamically configuring the adjustable assembly based on the detected first object.

[0024] In yet another example, configuring an adjustable assembly according to a first configuration includes using computer vision to identify the location of a first object and configuring the interface of the adjustable assembly according to the identified location.

[0025] Further exemplary embodiments of the present disclosure provide a method for controlling an adjustable assembly of an EOAT for a robot. The adjustable assembly includes a base and a plurality of tools, including a first tool having a first interface, a second tool having a second interface, and a third tool having a third interface. The first interface of the first tool is movable with 6 degrees of freedom relative to the base. The second interface of the second tool is movable with 6 degrees of freedom relative to the base. The third interface of the third tool is movable with 6 degrees of freedom relative to the base. The method includes identifying a first configuration associated with a first object; configuring an adjustable assembly according to a first configuration in which the first interface of a first tool of the adjustable assembly has a first position relative to a base, the second interface of a second tool of the adjustable assembly has a second position relative to a base, and the third interface of a third tool of the adjustable assembly has a third position relative to a base; engaging a plurality of tools of the adjustable assembly to cause the adjustable assembly to grip and engage the first object; disengaging a plurality of tools of the adjustable assembly; identifying a second configuration associated with a second object; configuring an adjustable assembly according to a second configuration in which at least one of the first interface of the first tool, the second interface of the second tool, and the third interface of the third tool is moved relative to the first configuration; engaging a plurality of tools of the adjustable assembly to cause the adjustable assembly to grip and engage the second object; and disengaging a plurality of tools of the adjustable assembly.

[0026] In one example, the first configuration associated with the first object is identified according to a stored sequence including the first object and the second object, and the second configuration associated with the second object is identified according to the stored sequence.

[0027] In another example, the first configuration associated with the first object is identified in response to detecting the first object using computer vision, and the second configuration associated with the second object is identified in response to detecting the second object using computer vision.

[0028] In a further example, configuring the adjustable assembly according to the first configuration includes detecting the first object using computer vision and dynamically configuring the adjustable assembly based on the detected first object.

[0029] In yet another example, configuring the adjustable assembly according to the first configuration includes identifying the location of the first object using computer vision and configuring the interface of the adjustable assembly according to the identified location.

[0030] In yet another exemplary embodiment of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool comprises a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The base includes a linear rail defining a first axis. The first adjustable assembly comprises a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, enabling linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, linear motion along a third axis perpendicular to both the first and second axes, and rotation about at least two of a fourth axis, a fifth axis, and a sixth axis, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool includes a first interface that is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links, a second plurality of couplers connecting the plurality of links to a base, providing at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool includes a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

[0031] In one example, the first set of couplers allows rotation around the fourth, fifth, and sixth axes, respectively. In a modified version, the first set of couplers allows rotation around the fourth, fifth, and sixth axes, respectively, and the fourth, fifth, and sixth axes intersect at a common point.

[0032] In another example, the fourth axis is the first axis, the fifth axis is the second axis, and the sixth axis is the third axis.

[0033] In yet another example, the first adjustable assembly and the second adjustable assembly are independently coupled to the base. In one variation, the adjustable arm end tool further comprises a third adjustable assembly coupled to the base. The third adjustable assembly comprises a third plurality of links and a third plurality of couplers connecting the third plurality of links to the base, providing at least two degrees of freedom, and a third tool coupled to the base through the third plurality of links and the third plurality of couplers. In yet another variation, the base has a longitudinal central plane, the first and third adjustable assemblies are located on the first side of the longitudinal central plane, and the second adjustable assembly is located on the second side of the longitudinal central plane, with the second side being opposite to the first side. In a further variation, the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly are independently coupled to the base.

[0034] In yet another exemplary embodiment of the present disclosure, an adjustable arm-end tool for a robot is provided. The adjustable arm-end tool comprises a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly comprises a first linear adjustment subassembly coupled to the base, which provides at least two degrees of linear motion relative to the base; a first rotation adjustment subassembly coupled to the base through the first linear subassembly, which provides at least two degrees of rotational motion relative to the base; and a first tool coupled to the base through the first rotation subassembly and the first linear subassembly. The first adjustable assembly includes a first tool, which includes a linear adjustment subassembly and a first interface that can be positioned relative to the base at multiple positions based on the first rotary adjustment subassembly. The second adjustable assembly includes a second linear adjustment subassembly coupled to the base, a second rotary adjustment subassembly coupled to the base through the second linear subassembly, and a second tool, which includes a second interface that can be positioned relative to the base at multiple positions based on the second linear adjustment subassembly and the second rotary adjustment subassembly, coupled to the base through the second rotary subassembly and the second linear subassembly.

[0035] In one example, the first rotation adjustment subassembly provides a rotational motion of at least 3 degrees relative to the base.

[0036] In another example, the base includes a linear rail defining a first axis, and the first linear adjustment subassembly includes a first plurality of links and a first plurality of couplers connecting the plurality of links to the base, enabling linear motion along the first axis, enabling linear motion along a second axis perpendicular to the first axis, and enabling linear motion along a third axis perpendicular to both the first and second axes. In a variation thereof, the first rotation adjustment subassembly provides rotational motion of at least 3 degrees relative to the linear adjustment subassembly about a fourth axis, a fifth axis, and a sixth axis. In yet another variation thereof, the fourth axis is the first axis, the fifth axis is the second axis, and the sixth axis is the third axis. In yet another variation thereof, the fourth axis, the fifth axis, and the sixth axis intersect at a common point.

[0037] In a further example, the first and second tools are each single-sided tools. In one variation, the single-sided tool is one of a magnetic gripper, a suction gripper, a pink ramp, or a locator.

[0038] In yet another example, the first and second tools are both double-sided tools. In yet another example, the adjustable arm-end tool further comprises a controller configured to configure a first adjustable assembly and a second adjustable assembly according to the first configuration in order to identify a first configuration associated with a first object, position a first interface of the first tool at a first position relative to the base, and position a second interface of the second tool at a second position relative to the base. In one variation thereof, the first configuration associated with the first object is identified according to a sequence including a first object and a second object. The controller is further configured to identify a second configuration associated with a second object according to the sequence, and to configure a first adjustable assembly and a second adjustable assembly according to the second configuration in order to position a first interface of the first tool at a third position relative to the base, and position a second interface of the second tool at a fourth position relative to the base.

[0039] In yet another example, the adjustable arm-end tool further comprises a third adjustable assembly coupled to the base. The third adjustable assembly comprises a third linear adjustment subassembly coupled to the base, which provides at least two degrees of linear motion relative to the base; a third rotation adjustment subassembly coupled to the base through the third linear subassembly, which provides at least two degrees of rotational motion relative to the base; and a third tool coupled to the base through the third rotation subassembly and the third linear subassembly. The third tool includes a third interface that is positionable relative to the base at multiple positions based on the third linear adjustment subassembly and the third rotation adjustment subassembly. In one variation, the base has a longitudinal central plane, and the first and third adjustable assemblies are positioned on the first side of the longitudinal central plane, and the second adjustable arm The semblage is positioned on a second side of the longitudinal central plane, the second side being opposite to the first side. In another variation, the first plurality of links and first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and third plurality of couplers provide six degrees of freedom for positioning the third tool relative to the base. In yet another variation, each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly is independently coupled to the base.

[0040] This summary is provided to present a simplified selection of concepts that will be further explained in the detailed description below. This summary is not intended to identify any significant or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.

[0041] Brief explanation of the drawing Refer to the following diagram to illustrate non-restrictive and non-exclusive examples. [Brief explanation of the drawing]

[0042] [Figure 1A] This is a typical front view of an adjustable assembly for use with an adjustable arm end tool or adjustable fixture. [Figure 1B] This is a typical front view of an adjustable arm end tool having multiple adjustable assemblies in various configurations according to aspects of the present disclosure. [Figure 1C] This is a typical rear view of an adjustable arm end tool having multiple adjustable assemblies in various configurations according to aspects of the present disclosure. [Figure 1D] This is a typical front view of an adjustable fixture having multiple adjustable assemblies. [Figure 2A] This is an illustrative diagram of a robotic device having an adjustable arm-end tool for manipulating multiple objects, according to an embodiment described herein. [Figure 2B] This is an illustrative diagram of a robotic device having an adjustable arm-end tool for manipulating multiple objects, according to an embodiment described herein. [Figure 2C] This is an illustrative diagram of a robotic device having an adjustable arm-end tool for manipulating multiple objects, according to an embodiment described herein. [Figure 2D] This is an illustrative diagram of a robotic device having an adjustable arm-end tool for manipulating multiple objects, according to an embodiment described herein. [Figure 3A] This is a left front view of an exemplary adjustable assembly. [Figure 3B] This is a right front view of an exemplary adjustable assembly. [Figure 3C] This is a left rear view of an exemplary adjustable assembly. [Figure 4A] This is a top perspective view of an adjustable arm end tool having a plurality of adjustable assemblies according to an aspect of the present disclosure. [Figure 4B] This is a bottom perspective view of an adjustable arm end tool having a plurality of adjustable assemblies according to an aspect of the present disclosure. [Figure 4C] This is another top perspective view of an adjustable arm end tool having a plurality of adjustable assemblies according to an aspect of the present disclosure. [Figure 5A] This is a perspective view of a robotic device having an adjustable arm-end tool according to an aspect of the present disclosure. [Figure 5B] This is a perspective view of a robotic device having another adjustable arm-end tool according to an aspect of the present disclosure. [Figure 6] This figure shows an example of a suitable operating environment 600 in which one or more of these embodiments may be implemented. [Figure 7] This is a representative diagram of an exemplary adjustable arm-end tool (EOAT). [Figure 8] This is a representative diagram of an exemplary magnetic coupling device having multiple fabricated piece contact interfaces for each pole of the magnetic coupling device and the magnetic coupling device in the off state. [Figure 9]This figure shows the magnetic coupling device in the ON state (Figure 8). [Figure 10] This figure shows a magnetic coupling device with a detection system. [Figure 11] This is a representative diagram of an exemplary magnetic coupling device having multiple machined contact interfaces for each pole of the magnetic coupling device, including a stack of permanent magnets having a first permanent magnet movable relative to a second permanent magnet by an actuator. [Figure 12] Figure 11 shows a magnetic coupling device including an electronic controller that is operably coupled to an actuator. [Figure 13] This is a representative diagram of an exemplary magnetic coupling device having multiple fabricated contact interfaces for each pole of the magnetic coupling device, including a stack of permanent magnets having a first permanent electromagnet and a second permanent electromagnet. [Figure 14] Figure 11 is a top view of an exemplary magnet and pole piece assembly of a magnetic coupling device. [Figure 15] Figure 11 is a cross-sectional view of another exemplary magnet and pole piece assembly of a magnetic coupling device. [Figure 16] Figure 11 is a top view of an exemplary magnet and pole piece assembly of a magnetic coupling device without a central channel. [Figure 17] Figure 11 is a top view of an exemplary magnet and pole piece assembly of a magnetically coupled device that does not have a central channel and includes a ferromagnetic core. [Modes for carrying out the invention]

[0043] Detailed explanation The following detailed description refers to the accompanying drawings, which form part of this specification and illustrate specific embodiments or examples. These embodiments may be combined, other embodiments may be utilized, or structural modifications may be made without departing from this disclosure. Embodiments may be practiced as methods, systems, or devices. Accordingly, the following detailed description should not be construed as restrictive, and the scope of this disclosure is defined by the accompanying claims and their equivalents.

[0044] Arm-end tools (EOATs) and fixtures can be used to manipulate and support objects, for example, as part of a manufacturing process. For example, an EOAT can be coupled to a robot and used to hold an object or to move an object to a fixture, at which point the object can be supported by the fixture. Exemplary robots include industrial robots having multiple links that are movably coupled together to change the position of the robot's end in space, and therefore the position of the EOAT. Couplers between the robot's links can control the robot's end within one or more translational axes and one or more rotational axes. In embodiments, the robot's end is controllable within multiple translational axes and multiple rotational axes. However, EOATs and fixtures are typically designed for specific objects such that a first set of EOATs and / or fixtures may be used for a first group of objects, and a second set of EOATs and / or fixtures may be used for a second group of objects. Therefore, transitioning from the manufacture of a first group of objects to the manufacture of a second group of objects may involve replacing the first set of EOATs and fixtures with a second set of EOATs and fixtures.

[0045] This could introduce additional time, as well as additional complexity and additional space requirements (e.g., for storing multiple sets of EOATs and fixtures) into the manufacturing process. Furthermore, such specialized EOATs and fixtures may have different sizes depending on how they are used. The object can be gripped from multiple edges and / or sides to a degree exceeding the size of the object being gripped. To effectively control such a large EOAT, a more powerful robotic device may be required, resulting in additional energy consumption, additional mechanical complexity, and increased spatial requirements, among other disadvantages.

[0046] Accordingly, aspects of the present disclosure relate to adjustable EOATs or fixtures. As an example, a set of adjustable assemblies can be used as an EOAT or fixture, and each adjustable assembly can be used to control a tool. Referring to Figure 7, an exemplary adjustable EOAT 10 is shown. The EOAT 10 is coupled to the end of a robot 12 through one or more couplers 14. In embodiments, the couplers 14 secure the EOAT 10 to the robot 12. In embodiments, one or more couplers 14 allow one or more degrees of motion (translational and / or rotational) of the EOAT 10 relative to the robot 12. Exemplary couplers include linear translational mounts, rotary mounts, and other suitable mounts.

[0047] The EOAT 10 includes a base 20 coupled to the robot 12 via a coupler 14, as shown in the figure. The base 20 may include one or more components coupled within the assembly. The base 20 carries several adjustable assemblies 30A to 30C. Although three adjustable assemblies 30A to 30C are shown, fewer or additional adjustable assemblies may be included as part of the EOAT 10.

[0048] Each adjustable assembly 30 includes a tool 32 that interfaces with one or more workpieces 80 to be moved by the EOAT 10 and the robot 12. Exemplary tools include a gripper, a pin ramp, a clamp, and a locator. As shown in Figure 7, the tools 32A-C interface with the workpieces 80, exemplary punched metal components, at locations 82A-C. Each of locations 82A-C is inside the outer perimeter envelope 86 of the workpiece 80. Thus, the footprint of the EOAT 10, defined by the interfaces 34A-C of the tools 32A-C, is entirely within the outer perimeter envelope 86 of the workpiece 80. In the illustrated embodiment, each of the interfaces 34A-C of the tools 32A-C is within the outer perimeter envelope 86 of the workpiece 80, but in embodiments, one or more of the tools may extend over the outer portion of the outer perimeter envelope 86, and each interface of the tools interacts with both the front 88 and the back (not shown) of the workpiece 80. As described herein, the positions of the interfaces 34A-C of the tools 32A-C may be located at multiple positions relative to the base 20. Note that the positions of the interfaces 34A-C relative to the base 20 do not need to be determined; rather, the positioning relative to the base 20 merely provides a reference. In practice, the interfaces may be located based on the robot's coordinate system, the adjustable assembly itself, or other coordinate systems within the system.

[0049] Exemplary locators include pins and other positioning mechanisms. Exemplary grippers include suction cup grippers and magnetic grippers. Magnetic grippers are also referred to herein as magnetic coupling devices. A suction cup gripper includes a cup as its respective interface 34 with the workpiece 80 and a pneumatic system that selectively applies vacuum to the cup gripper to hold the workpiece 80 against the EOAT 10. A magnetic gripper is used with a ferromagnetic workpiece 80 and generally includes a pole shoe as its respective interface 34 with the workpiece 80 and a magnetic flux source that supplies magnetic flux to the surface of the pole shoe to form a magnetic circuit through the pole shoe and the workpiece.

[0050] Exemplary magnetic flux sources include electromagnets, permanent electromagnets, rare-earth permanent magnets, other suitable magnets, and combinations thereof. Exemplary magnetic grippers are disclosed in U.S. Patent No. 7,012,495, U.S. Patent No. 8,878,639, U.S. Patent No. 1,090,3030, U.S. Patent Application Publication No. 2018,0311,795 and U.S. Patent Application Publication No. 2021,0031,317, U.S. Provisional Patent Application No. 63 / 194,692, and International Publication No. 2020,086,791, all of which are expressly incorporated herein by reference.

[0051] Referring to Figure 8, an exemplary magnetic coupling device 710 is shown. The 710 is configured to magnetically couple the ferromagnetic processed piece 712. The magnetic coupling device 710 comprises a housing 714, a switchable magnetic flux source 716, and a first N pole portion 718 It includes a second north pole portion 720, a first south pole portion 722, and a second south pole portion 724. The first N pole portion 718 includes a workpiece interface 728, the second N pole portion 720 includes a workpiece interface 730, and the first S pole portion 722 includes a workpiece interface 7 The second S pole portion 724 includes the workpiece interface 734, and they each Each portion of the ferromagnetic machined piece 712, exemplary, contacts the surface 726 of the ferromagnetic machined piece 712. Each of the machined piece interfaces 728, 730, 732, and 734 includes at least one machined piece engagement surface. Each of the machined piece interfaces 728, 730, 732, and 734 may be flat, curved, undulating, have a plurality of spaced-out protrusions, or have any other suitable shape for contacting the ferromagnetic machined piece 712. Each of the first N-pole portion 718, the second N-pole portion 720, the first S-pole portion 722, and the second S-pole portion 724 is made of a ferromagnetic material and may be part of the housing 714, or may be a separate component coupled to the housing 714.

[0052] The switchable flux source 716 of the magnetic coupling device 710 is switchable between an off state in which the magnetic circuit is formed within the housing 714 and an on state in which the magnetic circuit is formed to return to the switchable flux source 716 (as indicated by the arrows shown in Figure 9) through the machined interface 728 and 730 of the magnetic coupling device 710, through the ferromagnetic machined 712, through the machined interface 732 and 734 of the magnetic coupling device 710. In an embodiment, the switchable flux source 716 may be configured in at least one partially on state in which the intensity of the magnetic circuit formed through the ferromagnetic machined 712 is greater than that of the off state and less than that of the on state.

[0053] The switchable magnetic flux source 716 may include multiple permanent magnets, and the overall N pole portion 744 and It can be configured to have an overall south pole portion 746, as shown in Figure 9. The overall north pole portion 744 of the magnetic flux source 716 consists of a first north pole portion 718 and a second north pole portion 720 The entire S-pole portion 746 of the switchable flux source 716 is positioned between the first S-pole portion 722 and the second S-pole portion 724. The typical N pole portion 744 is magnetically coupled with the first N pole portion 718 and the second N pole portion 720. As a result, the processed piece interface 728 of the first N pole portion 718 and the processed piece interface 730 of the second N pole portion 720 are connected to the overall N pole 74 of the magnetic coupling device 710. The overall south pole portion 746 is formed by the first south pole portion 722 and the second south pole portion 72 4 is magnetically coupled, and as a result, the processed piece interface 73 of the first S pole portion 722 The processed piece interface 734 of the second S pole portion 724 is connected to the magnetic coupling device 71 It forms an overall south pole of 0, 742.

[0054] The switchable flux source 716 may include one or more permanent magnets, and the overall N pole portion 74 It can be configured to have 4 and an overall south pole portion 746. In the embodiment, it is switchable The flux source 716 includes at least one permanent electromagnet that is switchable between an ON state (having N and S poles) and an OFF state (not magnetized to an external object). Furthermore, the at least one permanent electromagnet may be configured to have varying magnetic intensities, enabling the device to be configured in a partially ON state where the magnetic intensity at the workpiece interfaces 728, 730, 732, and 734 is less than that of the ON state and greater than that of the OFF state. In embodiments, the switchable flux source 716 includes at least one rare-earth permanent magnet and at least one permanent electromagnet, the combination of which enables the device to be configured in an ON state with magnetic intensities at the workpiece interfaces 728, 730, 732, and 734 and in a state where the magnetic circuit is housing It is switchable between an ON state and an OFF state formed inside the housing 714. Furthermore, this combination may be configured to have various magnetic intensities that enable the device to be configured in a partially ON state in which the magnetic intensity at the workpiece interfaces 728, 730, 732, and 734 is lower than the ON state and higher than the OFF state. In the embodiment, the switchable flux source 716 includes a plurality of rare-earth permanent magnets, and these combinations are switchable between an ON state having magnetic intensities at the workpiece interfaces 728, 730, 732, and 734 and an OFF state in which the magnetic circuit is formed inside the housing 714. Furthermore, this combination may be configured to have various magnetic intensities that enable the device to be configured in a partially ON state in which the magnetic intensity at the workpiece interfaces 728, 730, 732, and 734 is lower than the ON state and higher than the OFF state. In the embodiment, the switchable flux source 716 includes at least one rare-earth permanent magnet that is movable relative to the housing 714 and is therefore switchable between an ON state having magnetic intensity at the workpiece interfaces 728, 730, 732, and 734 and an OFF state in which the magnetic circuit is formed inside the housing 714.

[0055] As shown in Figures 8 and 9, a channel 750 is provided between pole portions 720 and 724. The channel 750 can accept one or more sensors, stationary pins, retractable pins, probes, and / or additional tools, as discussed herein.

[0056] Referring to Figure 10, in this embodiment, the magnetic coupling device 710 further includes a monitoring system 748 which includes one or more sensors for monitoring the characteristics of the magnetic coupling device 710 and / or the characteristics of the magnetic circuit formed between the magnetic coupling device 710 and the ferromagnetic processed piece 712. As shown in Figure 10, the first sensor 760 is positioned in close proximity to the first N pole portion 718. Even if the second sensor 762 is positioned in close proximity to the first S-pole portion 722, Often, the third sensor 764 may be positioned in close proximity to the ferromagnetic processed piece 712 in a channel 750 provided between the second north pole portion 720 and the second south pole portion 724. Each of the first sensor 760, the second sensor 762, and the third sensor 764 may be a flux sensor. Additional types of sensors include temperature sensors used to compensate for temperature-dependent drift of the flux sensor. Furthermore, the positions of sensors 760, 762, and 764 are exemplary, and one or more sensors may be positioned in different locations. In embodiments, sensor 764 may be a proximity sensor. Exemplary proximity sensors include inductive sensors, ultrasonic sensors, photonic sensors, and other suitable sensors.

[0057] Each of the sensors 760, 762, and 64 is operably coupled to an electronic controller 770. The electronic controller 770 includes at least one processor 772 and associated memory 774. Memory 774 includes magnetic coupling state logic 776, which is a logic control circuit that monitors the outputs of sensors 760, 762, and 764 to monitor one or more characteristics of the magnetic coupling device 710 and / or one or more characteristics of the magnetic circuit formed between the magnetic coupling device 710 and the ferromagnetic processed piece 712. The term “logic” as used herein includes software and / or firmware running on one or more programmable processors, application-specific integrated circuits, field-programmable gate arrays, digital signal processors, hardwired logic, or combinations thereof. Accordingly, according to embodiments, various logics may be implemented in any suitable manner, as remains in accordance with the embodiments disclosed herein. The non-transient machine-readable medium containing logic can further be considered to be embodied in any tangible form of computer-readable carrier, such as solid-state memory, magnetic disks, and optical disks, which contain a suitable set of computer instructions and data structures that cause a processor to execute the techniques described herein. The disclosure also considers other embodiments in which the electronic controller 770 is configured not to be microprocessor-based, but rather to control the operation of the magnetic coupling device 800 based on one or more sets of hardwired instructions. Furthermore, the electronic controller 770 is... To provide the functions described in the specification, the devices may be contained within a single device, or they may be multiple devices that are networked together or otherwise electrically connected.

[0058] The electronic controller 770 can further receive input through one or more input devices 780. Exemplary input devices include buttons, switches, levers, dials, touch displays, soft keys, and communication modules. The electronic controller 770 can further provide output through one or more output devices 782. Exemplary output devices include visual indicators, acoustic indicators, and communication modules. Exemplary visual indicators include displays, lights, and other visual systems. Exemplary acoustic indicators include speakers and other suitable acoustic systems.

[0059] Referring to Figure 11, each of the workpiece interface 730 and workpiece interface 734 is closer to the rotation axis 810 than either the first permanent magnet 802 or the second permanent magnet 804. Between the workpiece interface 730 and the workpiece interface 734 is a channel 750 that can receive one or more sensors, stationary pins, retractable pins, retractable pink lamps, cameras, probes, and / or additional tools, as referred to herein. The workpiece interface 730 of the second N-pole portion 720 and the workpiece interface 734 of the second S-pole portion 724 are external N-pole and magnetic coupling device 800 of the magnetic circuit formed by the rare-earth permanent magnets, without any of the rare-earth permanent magnets forming the magnetic circuit being positioned between the second N-pole portion 720 and the second S-pole portion 724. The external S poles of the coupling device 800 are provided. Furthermore, in the embodiment, the first permanent Each of the first permanent magnet 802 and the second permanent magnet 804 surrounds the rotating shaft 810, and each of the first permanent magnet 802 and the second permanent magnet 804 includes an opening for forming part of the channel 750.

[0060] Referring to Figure 11, an exemplary embodiment of the magnetic coupling device 710, specifically the magnetic coupling device 800, is shown. The magnetic coupling device 800 includes a switchable flux source 716 having a first permanent magnet 802 and a second permanent magnet 804. The second permanent magnet 804 is spaced apart from the first permanent magnet 802. In the embodiment, a spacer (not shown) is positioned between the first permanent magnet 802 and the second permanent magnet 804. In the embodiment, each of the first permanent magnet 802 and the second permanent magnet 804 is a rare-earth permanent magnet.

[0061] The second permanent magnet 804 is movable relative to the first permanent magnet 802. The magnetic coupling device 800 includes an actuator 806 that positions the second permanent magnet 804 relative to the first permanent magnet 802. Exemplary actuators 806 include manual actuators, hydraulic actuators, pneumatic actuators, mechanical actuators, electrically controlled actuators, and combinations thereof. Referring to Figure 5, actuator 806 is an electrically controlled actuator and includes a motor (not shown) controlled by an electronic controller 770 to position the second permanent magnet 804 relative to the first permanent magnet 802. Exemplary actuators are disclosed in U.S. Patent No. 1,0903,030, the entire disclosure of which is expressly incorporated herein by reference.

[0062] In this embodiment, the actuator 806 rotates the second permanent magnet 804 relative to the first permanent magnet 802 about the rotation axis 810. The first permanent magnet 802 remains fixed to the housing 714. The machined interface of the first N pole portion 718 Face 728, the processed piece interface 730 of the second N pole portion 720, the processed piece interface 732 of the first S pole portion 722, and the processed piece interface of the second S pole portion 724 - 734 is magnetically coupled to the first permanent magnet 802 and the second permanent magnet 804. In the embodiment, one or both of the first permanent magnet 802 and the second permanent magnet 804 are single It is composed of rare earth magnets. In this embodiment, one or both of the first permanent magnet 802 and the second permanent magnet 804 are composed of a plurality of rare earth magnets that collectively form the first permanent magnet 802 or the second permanent magnet 804.

[0063] As shown in Figure 11, at one position of the second permanent magnet 804 relative to the first permanent magnet 802, the north pole of the second permanent magnet 804 is generally aligned with the north pole of the first permanent magnet 802, and the south pole of the second permanent magnet 804 is generally aligned with the south pole of the first permanent magnet 802. In this configuration, the magnetic coupling device 800 is a processed piece of the first north pole portion 718. Interface 728 and the processed piece interface 730 of the second N pole portion 720 are magnetic Corresponding to the external N pole of the gas-coupled device 800, and the processed piece interface 732 of the first S pole portion 722 and the processed piece interface 734 of the second S pole portion 724 are magnetically coupled. This corresponds to the ON state when the Vice 800 is in the external S pole corresponding state. In the ON state, magnetic When the coupling device 800 is in contact with the ferromagnetic processed piece 712, a magnetic circuit is formed for magnetically coupling the ferromagnetic processed piece 712 to the magnetic coupling device 800.

[0064] As shown in Figure 12, at another position of the second permanent magnet 804 relative to the first permanent magnet 802, the north pole of the second permanent magnet 804 is generally aligned with the south pole of the first permanent magnet 802, and the south pole of the second permanent magnet 804 is generally aligned with the north pole of the first permanent magnet 802. This configuration corresponds to when the magnetic coupling device 800 is in the off state, and the magnetic circuit is generally formed within the housing 714, and the magnetic coupling device 800 has a first north pole portion 7 18 workpiece interfaces 728 and second N pole portion 720 workpiece interface The external north pole is absent in part 730, and the external south pole is absent in the processed piece interface 732 of the first south pole portion 722 and the processed piece interface 734 of the second south pole portion 724. In the off state, the ferromagnetic processed piece 712 is not magnetically coupled to the magnetic coupling device 800.

[0065] The actuator 806 rotates the second permanent magnet 804 around the rotation axis 810, moving the second permanent magnet 804 between the positions shown in Figures 4 and 12. In this embodiment, the actuator 806 can position the second permanent magnet 804 at a rotational position between Figures 11 and 12. These intermediate rotational positions are the first N pole portion 71 8 workpiece interfaces 728 and second N pole portion 720 workpiece interface 730 corresponds to the external N pole of the magnetic coupling device 800, and the processed piece interface 732 of the first S pole portion 722 and the processed piece interface 734 of the second S pole portion 724 are It corresponds to the external S pole of the magnetic coupling device 800, but is advantageous in each of the external N pole and external S pole. This corresponds to a partially ON state of the magnetic coupling device 800 having a lower usable level of magnetic flux. Thus, the magnetic coupling device 800 can be configured to provide a variable intensity magnetic flux level to perform various operations, such as the operation disclosed in U.S. Patent No. 1,0903,030, the entire disclosure of which is expressly incorporated herein by reference.

[0066] Referring to Figure 11, each of the workpiece interface 730 and workpiece interface 734 is closer to the rotation axis 810 than either the first permanent magnet 802 or the second permanent magnet 804. Between the workpiece interface 730 and the workpiece interface 734 is a channel 750 that can receive one or more sensors and / or tools such as probes, as referred to herein. The workpiece interface of the second N pole portion 720 The processed piece interface 734 of the face 730 and the second S pole portion 724 connects the magnetic circuit None of the formed rare-earth permanent magnets are positioned between the second N-pole portion 720 and the second S-pole portion 724, and they provide the external N-pole and external S-pole of the magnetic coupling device 800 of the magnetic circuit formed by the rare-earth permanent magnets. Furthermore, in the embodiment, each of the first permanent magnet 802 and the second permanent magnet 804 surrounds the rotating shaft 810, and each of the first permanent magnet 802 and the second permanent magnet 804 is channel Each opening is included to form part of 750.

[0067] Referring to Figures 14 and 15, an exemplary arrangement configuration of the magnetic coupling device 800 is shown. The second N pole portion 720 and the workpiece interface 734 are connected to the support 752 (Figure 14). It is supported by (see 15). The channel 750 is provided as a central opening 754 through the support 752.

[0068] Referring to Figure 14, the housing 714 is made from a ferromagnetic material. An exemplary ferromagnetic material is steel. The housing 714 is connected to the first N pole portion 718 and the housing 714 by only thin-walled webs 790 and 792, both of which are thick-walled portions of the housing 714. The dimensions are determined accordingly. Thin-walled webs 790 and 792 are made of the first N pole portion 7 By making 18 and the first S pole portion 722 thinner, the magnetic flux is reduced in the thin-walled web 790 and Instead of passing through the thin-walled web 792 between the first N-pole portion 718 and the first S-pole portion 722, the material is guided to the ferromagnetic workpiece 712 through the workpiece interface 728 of the first N-pole portion 718 and the workpiece interface 732 of the first S-pole portion 722.

[0069] Referring to Figure 13, an exemplary embodiment of the magnetic coupling device 710, specifically the magnetic coupling device 900, is shown. The magnetic coupling device 900 includes a switchable flux source 716 having a first permanent magnet 902 and a second permanent magnet 904. The second permanent magnet 904 is spaced apart from the first permanent magnet 902. In the embodiment, a spacer (not shown) is positioned between the first permanent magnet 902 and the second permanent magnet 904, or an air gap is maintained between the first permanent magnet 902 and the second permanent magnet 904. In the embodiment, the first permanent magnet 902 is a rare-earth permanent magnet, and the second permanent magnet 904 is a permanent electromagnet. The first permanent magnet 902 and the second permanent magnet 904 remain fixed to the housing 714. The first N pole portion 718 has a processed piece interface 728, the second N pole portion 720 has a processed piece interface 730, and the first S pole portion 722 has a processed piece interface - 732, and the processed piece interface 734 of the second S pole portion 724 are the first permanent It is magnetically coupled to magnet 902 and the second permanent magnet 904.

[0070] At least a portion of the second permanent magnet 904 is surrounded by a coil 910 coupled to a current source 912. The direction and intensity of the current supplied through the coil 910 are controlled by an electronic controller 770. The current is used to change the pole position of the second permanent magnet 904. In embodiments, the current may be used to position the north pole of the second permanent magnet 904 so as to be roughly aligned with the north pole of the first permanent magnet 902, and the south pole of the second permanent magnet 904 so as to be roughly aligned with the south pole of the first permanent magnet 902, as shown in Figure 13. The current does not need to be continuous to maintain the second permanent magnet 904 in this configuration. This configuration is such that the magnetic coupling device 900 is the first N The processed piece interface 728 of the pole portion 718 and the processed piece interface of the second N pole portion 720 -Face 730 corresponds to the external N pole of the magnetic coupling device 900, and the processed piece interface 732 of the first S pole portion 722 and the processed piece interface of the second S pole portion 724 S734 corresponds to the ON state when it is in the ON state corresponding to the external S pole of the magnetic coupling device 900. When the magnetic coupling device 900 is in contact with the ferromagnetic processed piece 712 in the ON state, a magnetic circuit is formed for magnetically coupling the ferromagnetic processed piece 712 to the magnetic coupling device 900. In the embodiment, the magnetic masses of the first permanent magnet 902 and the second permanent magnet 904 may be different or the same. In the embodiment, one or both of the first permanent magnet 902 and the second permanent magnet 904 are made of permanent magnets. In the embodiment, one or both of the first permanent magnet 802 and the second permanent magnet 804 are made of a plurality of permanent magnets that collectively form the respective first permanent magnet 802 or second permanent magnet 804.

[0071] In this embodiment, the current positions the north pole of the second permanent magnet 904 to be roughly aligned with the south pole of the first permanent magnet 902, and the south pole of the second permanent magnet 904 to be aligned with the first permanent magnet 902. It may be used to position it so as to be generally aligned with the north pole of 02. Corresponding to the state when the magnetic coupling device 900 is in the off state, the magnetic circuit is generally formed within the housing 714, and the magnetic coupling device 900 is connected to the first N pole portion 718 of the machined piece. In the processed piece interface 730 of the surface 728 and the second N pole portion 720 Lacking an external north pole, the processed piece interface 732 of the first south pole portion 722 and the second south pole portion The external S pole is missing at the processed piece interface 734 of part 724. In the off state, the magnetic field is strong. The processed piece 712 is not magnetically coupled to the magnetic coupling device 800.

[0072] In the embodiment, the permanent electromagnet of the second permanent magnet 904 may be charged to different levels to provide variable magnetic intensity at the workpiece interfaces 728, 730, 732, and 734. Thus, at least one partially on state may be configured such that the magnetic intensity at the workpiece interfaces 728, 730, 732, and 734 is less than that of the on state and greater than that of the off state. An exemplary permanent electromagnet includes an AlNiCo permanent electromagnet.

[0073] Referring to Figure 13, between the workpiece interface 730 and the workpiece interface 734 there is a channel 750 that can receive one or more sensors and / or tools such as probes, as referred to herein. In the embodiment, each of the first permanent magnet 802 and the second permanent magnet 804 surrounds the rotating shaft 810, and each of the first permanent magnet 802 and the second permanent magnet 804 includes an opening for forming part of the channel 750.

[0074] Referring to Figure 16, in this embodiment, the magnetic coupling device 800' does not include the channel 750. Rather, each of the first permanent magnet 802 and the second permanent magnet 804 is a solid circular permanent magnet. In this embodiment, multiple magnets may collectively form one or both of the first permanent magnet 802 and the second permanent magnet 804. Also, each of the first permanent magnet 802 and the second permanent magnet 804 may have various shapes. An exemplary arrangement configuration is described in "VARIABLE FIELD MAGNETIC COUPLERS AND METHODS FOR ENGAGING A FERROMAGNETIC WORKPIECE". Figures 2, 4, and 7 of U.S. Patent No. 10,903,030, issued on January 26, 2021, are shown, and the entire disclosure is expressly incorporated herein by reference. Another exemplary configuration is shown in U.S. Patent No. 7012495, titled “SWITCHABLE PERMANENT MAGNETIC DEVICE,” and the entire disclosure is expressly incorporated herein by reference. Furthermore, each of the first permanent magnet 802 and the second permanent magnet 804 may be a platter containing multiple magnets. An exemplary configuration is shown in U.S. Patent No. 2012495, titled “VARIABLE FIELD MAGNETIC COUPLERS AND METHODS FOR ENGAGING A FERROMAGNETIC WORKPIECE,” This is shown in Figures 17–19 of U.S. Patent No. 10,903,030, issued on January 26, 2021, and the entire disclosure is expressly incorporated herein by reference.

[0075] Referring to Figure 17, in this embodiment, the magnetic coupling device 800'' does not include the channel 750, but each of the first permanent magnet 802 and the second permanent magnet 804 includes a ferromagnetic core (ferromagnetic core 820 of the second permanent magnet 804 shown in Figure 17). An exemplary arrangement configuration is shown in U.S. Provisional Patent Application No. 63 / 351,349, reference number MTI-0034-01-US, filed on June 11, 2022, entitled "MAGNETIC COUPLING DEVICE," and its disclosure. The entire text is explicitly incorporated herein by reference.

[0076] Returning to Figure 7, each adjustable assembly 30A-30C includes, exemplary, a plurality of links and a plurality of couplers. In the illustrated embodiment, the first couplers 40A-40C connect the first links 42A-42C to the base 20, and the second couplers 44A-44C connect the first links 42A-42C to the base 20. The second link 46A~46C is connected, and the third coupler 48A~48C is connected to the second link 46A~ 46C is coupled to tools 32A-32C. In this embodiment, one or more of the couplers 40A-40C, 44A-44C, and 48A-48C are coupled together with each other's components. To fix. In the embodiment, one or more couplers 40A~40C, 44A~44C, and 48A~ 48C is one or more degrees of motion (translation and / or) between each of the components that are coupled together. (This allows rotation). Exemplary couplers include linear translational mounts, rotational mounts, and other suitable mounts. Given couplers 40A-40C, 44A-44C, and 48A-48C may include multi-stage mounts to provide two or more degrees of freedom between each of the components coupled together, and / or mounts that themselves provide multiple degrees of freedom. In embodiments, one given coupler among 40A-40C, 44A-44C, and 48A-48C may provide a single degree of freedom between each of the components coupled together. In embodiments, one given coupler among 40A-40C, 44A-44C, and 48A-48C may provide multiple degrees of freedom between each of the components coupled together. In embodiments, one given coupler among 40A-40C, 44A-44C, and 48A-48C may provide both at least one rotational degree of freedom and at least one translational degree of freedom.

[0077] In this embodiment, the positioning of each component coupled together by couplers 40A-40C, 44A-44C, and 48A-48C is controlled by an electronic controller 50. The electronic controller 50 controls one or more actuators of each coupler 40A-40C, 44A-44C, and 48A-48C to move the corresponding coupled components relative to each other and / or to maintain the relative positions of the corresponding coupled components. Although shown as a single electronic controller 50, the electronic controller 50 may be one or more controllers that control the operation of couplers 40A-40C, 44A-44C, and 48A-48C. Furthermore, the electronic controller 50 can control the operation of coupler 14 and / or robot 12.

[0078] As described herein, by adjusting the relative position of the interface 34 of the tool 32, the EOAT can be easily used with multiple workpieces of different shapes and / or workpieces of the same shape, randomly arranged in a container. Furthermore, the description of the EOAT 10 may also be carried out as a fixture for holding workpieces 80. In the case of a fixture, the base 20 supports the adjustable assemblies 30A-30C against a floor or other support.

[0079] As described herein, an adjustable assembly is one in which the tools of the adjustable assembly are linear along the x, y, and z axes (for example, by a linear adjustment subassembly). It is precisely controllable, (for example, by a rotation adjustment subassembly) along the x, y, and z axes. Linear and rotational adjustment subassemblies may be included to enable rotational control around an axis. While exemplary movements are described herein, it will be understood that various additional or alternative movements may be performed by the adjustable assemblies in the embodiments described herein. Furthermore, the grouping of translational motion (linear motion) in one subassembly and rotational motion (angular motion) in another subassembly is for ease of reading and does not result from a requirement that they reside in separate subassemblies. Conversely, embodiments may have a given subassembly that provides both translational and rotational motion.

[0080] In an embodiment, one or more of the adjustable assemblies may have fewer than 6 degrees of freedom. In an embodiment, one or more of the adjustable assemblies may have 7 or more degrees of freedom. In an embodiment, each of the adjustable assemblies includes the same number of degrees of freedom. In an embodiment, at least two of the adjustable assemblies have different numbers of degrees of freedom.

[0081] Exemplary tools include grippers (e.g., magnetic grippers, suction grippers, or pink grippers). This includes, but is not limited to, pin ramps or locators (e.g., two-way positioning pins or four-way positioning pins). In the examples, the tool may engage with the object substantially from one side. For example, a magnetic gripper or suction gripper may be referred to herein as a single-sided tool, where the magnetic or suction force acts on the object from the side from which the magnetic or suction force is provided. Similarly, a pin ramp or locator may engage with the object through a hole in the object. A pin ramp may include a retractable pin extending to the opposite side of the object. In such examples, a separate tool may not be required to apply a force opposite to the force of the pin ramp, and as a result, the pin ramp may be a single-sided tool. Such embodiments may, therefore, be in contrast to using multiple tools to grip the object from opposing edges or both sides of the object. EOATs and fixtures may be smaller in size when single-sided tools are used compared to EOATs and fixtures that require, for example, one or more additional tools on opposing sides or edges of the object. In addition to such single-sided tools, EOAT may also be used with any of the various double-sided tools, including but not limited to power clamps, parallel clamps, swing units, and multi-finger or Mylar gripping devices, among other mechanical grippers. Furthermore, the embodiments described herein may be used with any of the various other tools, including, but not limited to, drivers, drills, and paint heads, as well as tools for welding, painting, and polishing, among other examples.

[0082] An EOAT or fixture may include one or more adjustable assemblies, thereby manipulating or supporting an object using one or more tools associated with it. For example, an EOAT may have a longitudinal central plane along its base, from which the adjustable assemblies are distributed. In one example, the adjustable assemblies of the EOAT may be positioned such that all tools are on one side of the longitudinal central plane, while in another example, at least one tool may be on the opposite side of the longitudinal central plane. For example, an EOAT may have three adjustable assemblies, with two tools on one side of the longitudinal central plane and one tool on the other side. Such a configuration allows the EOAT to manipulate larger objects than when all tools are on the same side of the longitudinal central plane, due to an increased range of motion (e.g., on both sides of the longitudinal central plane rather than just one side).

[0083] In the example, the adjustable EOAT or adjustable fixture described herein is controlled by a controller that constitutes a set of adjustable assemblies for manipulating or supporting an object, for example. The controller controls the movement of each adjustable assembly along the x, y, and / or z axes and / or rotation around it can be controlled, thereby positioning the associated tool accordingly. The controller can configure a set of adjustable assemblies for a first object, then a second object. The controller can store one or more configurations (e.g., related to an object) for a set of adjustable assemblies, and as a result, the stored configuration can be retrieved and used to configure an adjustable assembly accordingly. For example, the stored configurations may be along the x, y, and z axes, and along the x, y, and The position and rotation of the tool around the z-axis can be defined. As another example, memory The configuration may define one or more contact points of an object in three-dimensional space, which can be used accordingly to generate the position and rotation of one or more tools of the EOAT.

[0084] In one example, the stored set of configurations may be used in a sequence, for example, according to the order in which objects are handled on the assembly line. Thus, one or more consecutive EOATs and / or fixtures may be configured according to each subsequent object in the sequence as the object moves down the assembly line. In another example, the configurations may be dynamically selected from a stored set of configurations and applied accordingly. For example, computer vision techniques may be used to identify the object and select the relevant configuration accordingly. In yet another example, such computer vision techniques may be used to dynamically identify one or more locations that interact with an object, so that the EOATs and / or fixtures can be configured based on the identified locations. Thus, the EOATs may follow a predefined sequence of configurations. It may be configured as such, or dynamically based on identified objects, or as any combination thereof.

[0085] In some cases, the controller configures a set of adjustable assemblies for the EOAT and a corresponding set of adjustable assemblies for the fixture so that the EOAT can be used to manipulate an object and position the object on the fixture. The controller can configure the adjustable assemblies to be retracted or deactivated so that only a subset of the adjustable assemblies are used by the EOAT or fixture. Similarly, the controller can engage or disengage the tools of the adjustable assemblies, for example, by generating or stopping magnetic or attractive forces on the tools, or by extending or retracting the pins of a pink lamp.

[0086] As a result of the adjustable nature of the EOAT or fixtures according to the embodiments of this disclosure, it is possible to transition to handling different objects more quickly, the EOAT can be lighter, and therefore the required robotic device does not need to be as powerful, and as a result of such reduction in robotic payload, the space required to house or operate the robotic device can be reduced, thereby reducing the overall size of the assembly line, among other advantages. Furthermore, the number of tool stands provided (e.g., for holding different specialized EOATs) can be reduced, and the number of fixture stands required when adjustable EOATs and fixtures are used can be reduced. In addition, non-value time can be reduced because the equipment can spend a lower percentage of time on tool changes and a higher percentage of time on contributing to value-added processes. As a result of the reduction in equipment and complexity, higher technical availability can be achieved. Similarly, as a result of reduced design and engineering requirements, time to market can be shortened. For example, simulation can be used to identify the movements of the robot and / or EOAT and adapt the assembly line to manufacture a given object.

[0087] In some cases, the controller may further control the robotic device to which the EOAT is mechanically coupled, or the controller may be separate from the controller of the robotic device. One or more image capture devices, light detection and ranging (LIDAR) systems The EOAT, and / or other machine vision systems and sensors, may be used by the controller, for example, to dynamically configure a set of adjustable assemblies based on detected objects. Such sensors may, among other examples, be mounted on the EOAT, on robotic devices, and / or outside the EOAT and robotic devices. Thus, the EOAT does not need to be constrained by pre-configured object positions. In another example, the controller may, among other examples, configure the EOAT or fixtures to identify obstacles and avoid collisions or reduce the likelihood of damage. For example, the controller may use information about the surrounding environment (e.g., which may be collected using computer vision techniques and / or LiDAR). The adjustable assembly and associated movements can be modeled so that potential problems can be identified by evaluating them. In embodiments, the EOAT tool or fixture itself can be used to assist in determining the proximity to the workpiece and / or the accuracy of the tool's position relative to the workpiece. Further details are provided in U.S. Patent No. 1,0903,030, U.S. Patent Application Publication No. 2018,031,1795, and International Publication No. 2020,086,791, the entirety of which is expressly incorporated herein by reference.

[0088] Exemplary computer vision techniques include, but are not limited to, object detection and object tracking. In some cases, semantic segmentation or instance segmentation may be used, for example, to determine object boundaries. In some cases, machine learning techniques may be used, for example, to detect objects and / or robotic devices, adjustable EOATs, adjustable fixtures, and / or one or more component adjustable assemblies. The movement of a linear adjustment subassembly or a rotational adjustment assembly can be controlled. For example, among other examples, a convolutional neural network or a graph neural network can be used for object recognition. It will be understood that the adjustable EOAT and fixtures described herein may be controlled independently or in relation to each other, among other examples.

[0089] Figure 1A shows a front view block diagram of an adjustable assembly 100 for use with an adjustable arm end tool or adjustable fixture. As shown, the adjustable assembly 100 comprises a linear adjustment subassembly 102, a rotational adjustment subassembly 104, and a tool 106. The linear adjustment subassembly 102 and the rotational adjustment subassembly 104 have multiple links and couplers that enable the desired movement of the adjustable assembly 100 for positioning the tool 106. As shown, the linear adjustment subassembly 102 is located along the x-axis. This enables movement along the y-axis and z-axis. The rotational adjustment subassembly 104 is mechanically coupled to the linear adjustment subassembly 102 such that the movement by the linear adjustment subassembly 102 adjusts the position of the rotational adjustment subassembly 104 accordingly. Furthermore, the grouping of translational motion (linear motion) in one subassembly and rotational motion (angular motion) in another subassembly is for ease of reading and does not stem from the requirement that they reside in separate subassemblies. Conversely, in embodiments, it is possible to have a given subassembly that provides both translational and rotational motion. As another example, a rotational mount can be coupled together with the links of the subassemblies, thereby enhancing the modularity and range of motion of the subassemblies, which may be beneficial when multiple adjustable assemblies 100 are used.

[0090] The rotation adjustment subassembly 104 enables rotational motion around the x, y, and z axes. It is shown as such. Among other examples, it will be understood that a given point of rotation 110 may occur at the center of the rotation adjustment assembly 104, at an end portion of the rotation adjustment assembly, and / or at the mounting point of the tool 106. In the embodiment, the rotation adjustment assembly 104 is such that rotation is x Rather than being centered on the x, y, and z axes, it is based on at least two of the x, y, and z axes. The linear adjustment subassemblies may be coupled so as to center on three orthogonal axes (the fourth, fifth, and sixth axes) that are rotated. However, in this embodiment, the fourth, fifth, and sixth axes coincide with the x, y, and z axes.

[0091] In this embodiment, the rotation adjustment assembly 104 is a wrist joint having a frame and an output interface supported by the frame. The tool 106 is coupled to the output interface. The output interface can be rotated about the z axis by a hydraulic motor, a stepper motor, or other suitable device that rotates the frame relative to the linear adjustment subassembly 102. Along with the output interface, a control assembly for rotation about the y axis and a control assembly for rotation about the x axis are provided. However, it is rotated around the z-axis. The control assembly for rotation around the y-axis is the z-axis. It may include a first ring that surrounds and is pivotably connected to the frame. The axis of rotation between the frame and the first ring corresponds to the y-axis. The angular position of the first ring can be controlled by a hydraulic cylinder coupled between the frame and the first ring at a location separated from the rotation between the frame and the first ring. The first ring controls rotation around the x-axis and the output interface. The assembly is supported. Therefore, the rotation of the first ring around the y-axis is the output input. This causes the corresponding rotation of the surface, and therefore the tool, around the y-axis. A control assembly for rotation around the x-axis may include a second ring that surrounds the z-axis and is rotatably connected to the first ring of the y-axis control assembly. The axis of rotation between the first and second rings corresponds to the x-axis. The angular position of the second ring relative to the first ring... The position is in a location separated from the rotation between the first ring and the second ring. It can be controlled by a hydraulic cylinder coupled between the first ring and the second ring. The second ring carries the output interface. Therefore, centered on the x-axis The rotation of the second ring corresponds to the output interface, and therefore to the x-axis of the tool. This causes rotation. In the embodiment, the control assembly for rotation around the y-axis A pivot axis between the frame and the first ring, and a control element for rotation around the x-axis. The pivot axes between the first and second rings for the semblage intersect each other. In the embodiment, the frame for the control assembly for rotation around the y-axis and the first ring A pivot axis between the ring and the first ring for the control assembly for rotation around the x-axis. The pivot axis between the first ring and the second ring intersects with the axis of rotation of the frame around the z-axis, as shown as point 110 in Figure 1A. The exemplary wrist joint is This is disclosed in Chinese Patent No. 110171015.

[0092] Therefore, the linear adjustment subassembly 102 and the rotational adjustment subassembly 104 are x It can be used to adjust the position of the tool 106 along and around the y, z, and axial axes. As described above, the tool 106 may also be a gripper or a locator, among other examples. In some cases, the tool 106 may be removable from the rotary adjustment assembly 104 so that the tool 106 is mechanically coupled at the mounting point of the rotary adjustment assembly 104.

[0093] Figures 1B and 1C show block diagrams of front view 120 and rear view 160 of an adjustable arm end tool 122 having a plurality of adjustable assemblies 148, 150, and 152 in various configurations according to aspects of the present disclosure, respectively.

[0094] The EOAT122 comprises an adjustable assembly 148 (e.g., comprising a linear adjustment subassembly 124, a rotational adjustment subassembly 126, and a tool 128), an adjustable assembly 150 (e.g., comprising a linear adjustment subassembly 130, a rotational adjustment subassembly 132, and a tool 134), and an adjustable assembly 152 (e.g., comprising a linear adjustment subassembly 136, a rotational adjustment subassembly 138, and a tool 140). Each of the linear adjustment subassemblies 124, 130, and 136 and each of the rotational adjustment subassemblies 126, 132, and 138 has a plurality of links and couplers that enable the desired movement of each of the adjustable assemblies 148, 150, and 152 for positioning each of the respective tools 128, 134, and 140. In embodiments, the interfaces 129, 135, and 141 of the tools 128, 134, and 140 of the EOAT122 can form a plane from which an object can be manipulated. In the embodiment, at least two of the interfaces 129, 135, and 141 of the tools 128, 134, and 140 of the EOAT122 are non-planar due to either one tool translating relative to the other, and / or one tool rotating relative to the other. In other examples, it will be understood that the interfaces 129, 135, and 141 may be flat. In the example, the tools 128, 134, and 140 do not have to be of the same type. For example, tools 128 and 140 may be magnetic grippers, while tool 134 may be a positioning pin.

[0095] As shown in Figure 120, the EOAT 122 is configured such that the adjustable assemblies 148, 150, and 152 are distributed along the longitudinal center plane 146 such that the tools 128, 134, and 140 are all on one side of the longitudinal center plane 146. The EOAT 122 is further shown to include rotating mounts 142 and 144 so that the adjustable assemblies 148 and / or 152 can be rotated to achieve an alternative configuration. View 160 of Figure 1C shows such an alternative configuration of the EOAT 122, in which the adjustable assemblies 148 and 152 are configured to position the tools 128 and 140 on opposite sides of the longitudinal center plane 146 relative to the adjustable assembly 150 and its associated tool 134. In addition to rotation, the rotating mounts 142 and 144 may be linearly translatable along the longitudinal central plane 146 in order to adjust the positions of the tools 128 and 140 along the longitudinal central plane 146 relative to the tool 134.

[0096] Such a configuration can provide a deeper range of motion (e.g., along axis 154) compared to the configuration in view 120. In other configurations, the adjustable assemblies may be configured to align with the longitudinal central plane 146 such that the configurations of tools 128, 134, and 140 are wider (e.g., along axis 146) than those shown in views 120 and 160. In other examples, the rotary mounts 142 and / or 144 may be omitted, and it will be understood that the adjustable assemblies 148 and 152 are fixedly mounted to the EOAT 122, similar to the adjustable assembly 150. In other examples, any number of adjustable assemblies and / or rotary mounts may be used.

[0097] Figure 1D shows a front view block diagram of an adjustable fixture 170 having multiple adjustable assemblies. The embodiments of the adjustable fixture 170 are similar to those of EOAT 122 and are therefore not necessarily described in detail again. For example, EOAT 122 is shown to have adjustable assemblies 174, 176, and 178 similar to those described above with respect to Figures 1A to 1C.

[0098] Similar to the EOAT 122, the base 172 of the adjustable fixture 170 includes rotating mounts 180 and 182 to allow the adjustable assemblies 174 and 178 to be rotated for configurations in which one or more of the adjustable assemblies 174, 176, and 178 are on the same side or different sides of the longitudinal central plane 179 of the adjustable fixture 170. As described above, the adjustable fixture 170 can be used to support an object so that it can be placed on the adjustable fixture 170 using an adjustable EOAT such as the EOAT 122 described above. Thus, both the adjustable fixture 170 and the EOAT 122 can be configured by a controller to support and operate the same object, respectively.

[0099] Figures 2A to 2D show exemplary views 200, 220, 240, and 260 of a robotic device 202 having an adjustable arm-end tool (e.g., comprising a linear adjustment subassembly 210, a rotation adjustment subassembly 204, and a tool 212) for manipulating a plurality of objects 208 and 262 according to the embodiments described herein. Although the EOAT is shown having a single adjustable assembly, the EOAT may have two or more adjustable assemblies, each having translational and / or rotational adjustability.

[0100] Therefore, in addition to the tool adjustment modes described above with respect to the adjustable assembly, the EOAT itself can be moved. As an example, the EOAT may be configured according to a stored configuration associated with object 208 or object 262 so that the robotic device 202 can move the EOAT to manipulate object 208 or object 262 accordingly.

[0101] For example, compared to view 200, view 220 depicts the EOAT in a configuration for manipulating object 208. As shown in the figure, the rotation adjustment subassembly 204 is configured to rotate the tool 212 so that object 208 can be manipulated. In some examples, the linear adjustment subassembly 210 can similarly move the tool 212 along one or more axes to, for example, better access to object 208 in a container 206.

[0102] Therefore, the robotic device 202 can move the adjustable EOAT into the container 206, at which point the controller can engage with the tool 212 and manipulate object 214 of the object 208 accordingly. For example, the tool 212 generates a magnetic or magnetic force. The tool 212 may be a magnetic gripper or a suction gripper, used to perform the operation. In some examples, the EOAT may remain substantially the same configuration for the duration that it is used by the robotic device 202 to manipulate the object 214. In other examples, the linear adjustment subassembly 210 and / or rotational adjustment subassembly 204 can be reconfigured while the tool 212 is gripping the object 214. For example, the linear adjustment subassembly 210 can move the tool 212 along one or more of the x, y, or z axes in addition to, or instead of, the movement by the robotic device 202. Therefore, it will be understood that the robotic device 202 and EOAT can work together to manipulate object 214.

[0103] View 260 similarly shows a robotic device 202 that uses an EOAT to manipulate object 262 using a tool 212. In the example, the EOAT is configured, for example, from a previous configuration of object 262, according to a stored configuration associated with object 208. In some cases, computer vision, a LiDAR system, or other sensor information is used. The objects 208 and / or 262 within the container 206 are identified, and as a result, the EOAT can be dynamically configured to operate objects 208 and / or 262 accordingly. For example, the EOAT may be configured based on sensor information (e.g., no existing configuration information for objects 208 and / or 262 exists), or the configuration may be adapted according to sensor information to take into account, for example, variations in the position of objects 208 and / or 262.

[0104] Figure 3A shows a front left view of an exemplary adjustable assembly 300, while Figure 3B shows a front right view, and Figure 3C shows a rear left view. As shown, the adjustable assembly 300 comprises a linear adjustment subassembly 308, a rotation adjustment subassembly 310, and a tool 312. The linear adjustment subassembly 308 and the rotation adjustment subassembly 310 each have a plurality of links and couplers that enable the desired movement of the adjustable assembly 300 for positioning the tool 312. The linear adjustment subassembly 308 is shown to include linear rails 302, 304, and 306. As shown, a sliding coupler 314 slides along linear rails 302 and 304, while a sliding coupler 322 slides along linear rail 306. Therefore, in this example, the sliding coupler 314 allows movement along two vertical axes (e.g., those of linear rails 302 and 304, the x-axis and y-axis), while the sliding coupler 318 allows movement along one axis perpendicular to the axis of the sliding coupler 314 (e.g., that of linear rail 306, the z-axis). It makes it possible.

[0105] The linear adjustment subassembly 308 is further shown to include motors 316, 320, and 322. As shown, motor 316 causes movement along linear rail 302, motor 320 causes movement along linear rail 304, and motor 322 causes movement along linear rail 306. In the example, motors 316, 320, and 322 each have rotary encoders that can determine their positions along linear rails 302, 304, and 306. For example, the location of coupler 314 may be determined relative to linear rail 302 by the rotary encoder of motor 316, while the location of coupler 314 along linear rail 304 may be determined by the rotary encoder of motor 320. Similarly, the location of coupler 318 along linear rail 306 may be determined by motor 322. Such embodiments are provided as examples, and it will be understood that in other examples, any of various additional or alternative techniques may be used to determine the current configuration of the linear adjustment subassembly 308. Such feedback may also be provided by the rotation adjustment subassembly 310. For example, absolute encoders can be used (e.g., for each axis) to eliminate the need for homing after power cut-off. Furthermore, data from the absolute encoders of the adjustable assembly can be used by the controller (e.g., control The roller 50) can be used to store the configuration of the adjustable assembly for subsequent use.

[0106] The adjustable assembly 300 is further shown comprising a rotational adjustment assembly 310 and a tool 312, the embodiments of which are similar to those described above with respect to Figures 1A-1D and 2A-2D, and therefore will not necessarily be described again in detail. As described above, the rotational adjustment assembly 310 can be made to rotate around the x, y, and z axes so that the tool 312 can be rotated accordingly.

[0107] It will be understood that the location in which the rotation adjustment assembly 310 is fixed to the linear rail 306 is provided as an example. In another example, the rotation adjustment assembly 310 may be attached to the end of the linear rail 306, or, as a further example, the linear rail 306 may be fixedly coupled to the linear rail 304 rather than moving the linear rail 306 relative to the sliding coupler 318, and the motor 322 may be configured to move the rotation adjustment assembly 310 along the linear rail 306 instead.

[0108] Figure 4A shows a top perspective view of an adjustable arm end tool 400 having multiple adjustable assemblies according to an embodiment of the present disclosure, Figure 4B shows a bottom perspective view, and Figure 4C shows another top perspective view. For example, the EOAT 400 may be used with a robotic device such as the robotic device 202 described with respect to Figures 2A to 2D. In such a case, the common linear rail 402 may include a mechanism that allows the EOAT 400 to be mechanically coupled to the robotic device 202. Embodiments of the EOAT 400 may be similar to embodiments of the EOAT 122 described with respect to Figures 1B to 1C, and are therefore not necessarily described in detail below. Furthermore, although Figures 4A to 4C show the EOAT 400, it will be understood that similar embodiments are applicable to adjustable fixtures, similar to the adjustable fixture 170 described with respect to Figure 1D.

[0109] As shown in the figure, the EOAT400 comprises adjustable assemblies 434, 436, and 438. Adjustable assembly 434 is shown comprising a sliding coupler 404, a linear rail 406, a sliding coupler 408, a linear rail 410, and a rotatable adjustable subassembly 412. Adjustable assembly 436 is shown comprising a sliding coupler 414, a linear rail 416, a sliding coupler 418, a linear rail 420, and a rotatable adjustable subassembly 422. Adjustable assembly 438 is shown comprising a sliding coupler 424, a linear rail 426, a sliding coupler 428, a linear rail 430, and a rotatable adjustable subassembly 432.

[0110] In comparison with the adjustable assembly 300 described above with respect to Figures 3A to 3C, the adjustable assemblies 434, 436, and 438 have a base that includes a common linear rail 402 on which sliding couplers 404, 414, and 424 move along a longitudinal central plane 440. Each of the adjustable assemblies 434, 436, and 438 further includes linear rails 406, 416, and 426, respectively, which are coupled to sliding couplers 404, 414, or 424, respectively, so that each adjustable assembly can position its respective tool along the linear rails 406, 416, and 426 accordingly. Although the base is shown as having a single linear rail, in embodiments the base includes multiple rails, each supporting one or more of the adjustable assemblies.

[0111] The illustrated exemplary EOAT400 has a configuration in which all adjustable assemblies 434, 436, and 438 are on the same side of the longitudinal center plane 440 (for example, similar to the configuration shown in view 120 above with respect to Figure 1B). In some cases, the EOAT400 has adjustable assemblies facing the longitudinal center plane 440, similar to the embodiment described above with respect to view 160 in Figure 1C. One or more swivel mounts may be further provided so that it can be rotated vertically. In another example, the adjustable assembly may be mounted in a fixed position in a different configuration (for example, rotated 90 or 180 degrees).

[0112] Figure 5A shows a perspective view 500 of a robotic device 502 having an adjustable arm-end tool 536 according to an embodiment of the present disclosure. Embodiments of the robotic device 502 and EOAT 536 may be the same as those described above and therefore may not necessarily be described in detail below. For example, EOAT 536 may be the same as that of EOAT 400 described with respect to Figures 4A to 4C.

[0113] As shown in the figures, the robotic device 502 is configured to move the EOAT 536 above various axes 540, 542, 544, and 546. Thus, the tools 512 and 522 can move about such axes in addition to, or as an alternative to, the movement by the adjustable assemblies 548 and 550 according to the embodiments described herein. As shown in the figures, the adjustable assembly 548 comprises a linear rail 506, a linear rail 508, a rotation adjustment subassembly 510, a tool 512, and a contact point 514. Similarly, the adjustable assembly 550 comprises a linear rail 516, a linear rail 518, a rotation adjustment subassembly 520, a tool 522, and a contact point 524. Similar to the EOAT 400 described above with respect to Figures 4A to 4C, the EOAT 536 comprises a common linear rail 504 along which the adjustable assemblies 548 and / or 550 can move. For example, the common linear rail 504 can enable the movement of tools 512 and 522 along the x-axis. On the other hand, linear rails 506 and 516 can enable movement along the z-axis, Rails 508 and 518 can enable movement along the y-axis.

[0114] While this specification illustrates an example using a linear rail configuration that provides movement along a given axis, it will be understood that the linear adjustment subassembly can have any of various other arrangement configurations. For example, Figures 3A to 3C show an example where the first linear rail 302 enables movement along the x-axis, the second linear rail 304 enables movement along the y-axis, and the third linear rail 306 enables movement along the z-axis, while Figures 5A to 5C illustrate the example. Figure 5B shows that the first linear rail 504 enables movement along the x-axis, and the second linear rail This example shows how rail 506 enables movement along the z-axis, and a third linear rail 508 enables movement along the y-axis. Furthermore, other examples do not require constraints on axes of motion that are perpendicular to each other.

[0115] As described above, the adjustable assemblies 548 and 550 of the EOAT 536 may be configured to manipulate any of a variety of objects. In the example, the EOAT 536 is configured independently of the movement of the robotic device 502, and as a result, the EOAT 536 is configured to manipulate objects (for example, so that the robotic device 502 can grasp an object), while the robotic device 502 moves the EOAT 536 (and, when interfaces 514 and 524 are engaged, the object associated with it) about one or more of the axes 540, 542, 544, and 546. Such movements do not need to be mutually exclusive so that the robotic device 502 can move toward an object while the EOAT 536 is configured to manipulate an object at least partially simultaneously with the movement of the robotic device 502.

[0116] In other cases, the adjustable assemblies 548 and 550 can operate in relation to the movement of the robotic device 502, such that an object moves as a result of a combination of movements by the robotic device 502 and the EOAT 536. In such cases, the positions of the tools 512 and 522 are such that they move along the x, y, and / or z axes and / or rotate about them. However, they may remain essentially fixed to each other.

[0117] Figure 5B shows a perspective view 560 of a robotic device 502 having another adjustable arm-end tool 538 according to an aspect of the present disclosure. Compared with the EOAT 536 described with respect to Figure 5A, the EOAT 538 has a linear rail 526 for movement along the z axis, a linear rail 528 for movement along the y axis, and a rotation adjustment sub-axis for rotation around the x, y, and z axes. The EOAT has a semblage 530, a tool 532, and an additional adjustable assembly 552 comprising a contact point 534. Thus, it will be understood that the EOAT may include any number of adjustable assemblies, depending on the weight or range required to grip the object being lifted using the EOAT, among other examples. In some examples, the adjustable assemblies may be disabled for certain objects. For example, the EOAT 538 may be used in some cases similarly to the EOAT 536, and the adjustable assembly 552 may be retracted or otherwise moved so that the tool 532 does not come into contact with an object that otherwise comes into contact with the respective contact points 514 and 524 of the tools 512 and 522. In examples where the EOAT includes multiple adjustable assemblies, each adjustable assembly may include a set of sensors used by a controller (e.g., controller 50) to prevent or mitigate crashes that may occur between the multiple adjustable assemblies (e.g., between adjustable assemblies 548, 550, and / or 552).

[0118] Figure 6 shows an example of a suitable operating environment 600 for an electronic controller 50 in which one or more of these embodiments may be implemented. This is merely an example of a suitable operating environment and is not intended to imply any limitation on the scope of use or functionality. Other well-known computing systems, environments, and / or configurations suitable for use include, but are not limited to, personal computers, server computers, handheld or laptop devices, multiprocessor systems, microprocessor-based systems, programmable consumer electronics such as smartphones, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices.

[0119] In one example, the operating environment 600 may be part of a robotic device, adjustable EOAT, adjustable fixture, or adjustable assembly, or any combination thereof, as described herein. In another example, the operating environment 600 may be, for example, a separate computing device that communicates with one or more robotic devices, adjustable EOATs, adjustable fixtures, and / or associated adjustable assemblies.

[0120] In its most basic configuration, the operating environment 600 can typically include at least one processing unit 602 and memory 604. Depending on the exact configuration and type of computing device, memory 604 (among other things, APIs, programs, etc., and / or The storage (which stores other components or instructions for implementing or carrying out the systems and methods disclosed herein) may be volatile (e.g., RAM), non-volatile (e.g., ROM, flash memory), or any combination of the two. This most basic configuration is shown by the dashed line 606 in Figure 6. Furthermore, the environment 600 may also include, but not limited to, magnetic or optical disks or tapes (removable 608, and / or non-removable 610). Similarly, the environment 600 may also have input devices 614 such as keyboards, mice, pens, and voice inputs, and / or output devices 616 such as displays, speakers, and printers. The environment may also include one or more communication connections 612 such as LANs, WANs, and point-to-point connections.

[0121] The operating environment 600 may include at least several forms of computer-readable media. The computer-readable media may be the processing unit 602 or other devices that provide the operating environment. It may be any available medium that can be accessed by the computer. For example, computer-readable media may include computer storage media and communication media. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any way or technique for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media may include RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital multipurpose disk (DVD) or other optical storage devices, magnetic cassettes, magnetic tapes, magnetic disk storage devices. Alternatively, it may include other magnetic storage devices or any other non-temporary medium that can be used to store the desired information. The computer storage medium does not have to include a communication medium.

[0122] Communication media include any information delivery medium in which computer-readable instructions, data structures, program modules, or other data can be embodied within a modulated data signal, such as a carrier wave or other transmission mechanism. The term “modulated data signal” can mean a signal having one or more of its characteristics that are set or modified to encode information within the signal. For example, communication media may include wired media such as wired networks or direct wired connections, as well as wireless media such as acoustic, RF, infrared, and other wireless media. Any combination of the above should also be included within the scope of computer-readable media.

[0123] The operating environment 600 may be a single computer operating in a network environment using logical connections to one or more remote computers. The remote computers may be personal computers, servers, routers, network PCs, peer devices, or other common network nodes, typically including many or all of the above elements, as well as other elements not so specifically mentioned. The logical connections may include any method supported by the available communication medium. Such networking environments are common in offices, enterprise-scale computer networks, intranets, and the internet. In some embodiments, the networking environment may include industrial Ethernet networks and / or discrete I / O communications.

[0124] The various different embodiments described herein may be used with software, hardware, or a combination of software and hardware to implement and carry out the systems and methods disclosed herein. Throughout this disclosure, certain devices are listed as performing specific functions, but those skilled in the art will understand that these devices are provided for illustrative purposes only and that other devices may be used to perform the functions disclosed herein without departing from the scope of this disclosure.

[0125] As described above, several program modules and data files can be stored in system memory 604. While running on processing unit 602, program modules (e.g., applications, input / output (I / O) management, and other utilities) can be stored in system memory 604. (i) can carry out a process that includes, but is not limited to, the control of an adjustable EOAT, adjustable fixtures, and / or robotic device in the manner described above.

[0126] Furthermore, examples of the present disclosure can be implemented on an electrical circuit comprising individual electronic elements, a package or integrated electronic chip including logic gates, a circuit utilizing a microprocessor, or on a single chip including electronic elements or a microprocessor. For example, examples of the present invention may be implemented via a system-on-a-chip (SOC) in which each or many of the components shown in Figure 6 can be integrated onto a single integrated circuit. Such an SOC device may include one or more processing units, graphics units, communication units, system virtualization units, and various application functions, all of which are integrated (or "burned") onto a chip substrate as a single integrated circuit. When operating via an SOC, as described herein The functions can operate via application-specific logic integrated with other components of the operating environment 600 on a single integrated circuit (chip). Examples of the present disclosure can also be put into practice using other techniques capable of performing logical operations, such as AND, OR, and NOT, including but not limited to mechanical, optical, fluidic, and quantum techniques. In addition, examples of the present invention can be put into practice in a general-purpose computer or in any other circuit or system.

[0127] Examples Embodiment 1. An adjustable arm end tool for a robot may comprise a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly may comprise a first plurality of links, a first plurality of couplers coupling the plurality of links to the base and providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool may include a first interface that is positionable relative to the base at a plurality of positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly may comprise a second plurality of links, a second plurality of couplers coupling the plurality of links to the base and providing at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool may include a second interface that can be positioned relative to the base at multiple positions based on a second set of links and a second set of couplers.

[0128] Example 2. The adjustable arm end tool according to Example 1, wherein at least one of the first tool and the second tool may be a magnetic gripper.

[0129] Example 3. The adjustable arm end tool according to Example 1, wherein the base may have a longitudinal central plane. The first adjustable assembly may be located on the first side of the longitudinal central plane, and the second adjustable assembly may be located on the second side of the longitudinal central plane, the second side being opposite to the first side.

[0130] Example 4. An adjustable arm end tool according to any one of Examples 1 to 3, wherein the base may include a linear rail defining a first axis.

[0131] Example 5. The adjustable arm end tool according to Example 4, wherein the first plurality of couplers may enable linear motion along a first axis, enable linear motion along a second axis perpendicular to the first axis, or enable linear motion along a third axis perpendicular to both the first and second axes.

[0132] Example 6. The adjustable arm end tool according to Example 5, wherein the first plurality of links may include a first linear rail parallel to a second axis and slidably coupled to the linear rail, and a second linear rail parallel to a third axis and slidably coupled to the first linear rail.

[0133] Example 7. An adjustable arm end tool according to any of the preceding embodiments, wherein the first plurality of couplers may allow rotation about at least one of the first axis, second axis, and third axis.

[0134] Example 8. Adjustable arm end according to Example 7, wherein the first set of couplers may allow rotation around at least two of the first, second, and third axes. tool.

[0135] Example 9. The adjustable arm end tool according to Example 8, wherein the first plurality of couplers may allow rotation about each of the first, second, and third axes.

[0136] Example 10. The adjustable arm end tool according to Example 1, wherein the first tool and the second tool may each be single-sided tools.

[0137] Example 11. The adjustable arm end tool as described in Example 10, wherein the single-sided tool may be one of a magnetic gripper, a suction gripper, a pink ramp, or a locator.

[0138] Example 12. The adjustable arm end tool according to Example 1, wherein the first tool and the second tool may each be a double-sided tool.

[0139] Example 13. The adjustable arm end tool as described in Example 12, wherein the double-sided tool may be one of a power clamp, parallel clamp, swing unit, multi-finger gripping device, or Mylar gripping device.

[0140] Example 14. The adjustable arm end tool according to Example 1, further comprising a third adjustable assembly coupled to the base. The third adjustable assembly may comprise a third plurality of links, a third plurality of couplers connecting the third plurality of links to the base, which may provide at least two degrees of freedom, and a third tool coupled to the base through the third plurality of links and the third plurality of couplers.

[0141] Example 15. The adjustable arm end tool according to Example 14, wherein the base may have a longitudinal central plane. The first and third adjustable assemblies may be positioned on the first side of the longitudinal central plane, and the second adjustable assembly may be positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.

[0142] Example 16. An adjustable arm end tool according to either one of Examples 13 or 14, wherein the first plurality of links and the first plurality of couplers may provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and the second plurality of couplers may provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and the third plurality of couplers may provide six degrees of freedom for positioning the third tool relative to the base.

[0143] Example 17. The adjustable arm end tool according to Example 16, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly may be independently coupled to the base.

[0144] Example 18. An adjustable arm end tool according to Example 1, wherein the first plurality of links and the first plurality of couplers may provide six degrees of freedom for positioning the first tool relative to the base, and the second plurality of links and the second plurality of couplers may provide six degrees of freedom for positioning the second tool relative to the base.

[0145] Example 19. The adjustable arm end tool according to Example 18, wherein each of the first adjustable assembly and the second adjustable assembly may be independently coupled to the base.

[0146] Example 20. An adjustable arm end tool comprises a first configuration associated with a first object. An adjustable arm end tool according to any of the prior embodiments, further comprising a controller configured to configure a first adjustable assembly and a second adjustable assembly according to a first configuration in order to identify and position the first interface of a first tool in a first position relative to the base and the second interface of a second tool in a second position relative to the base.

[0147] Example 21. An adjustable arm end tool according to Example 20, wherein the controller may be further configured to configure the first and second adjustable assemblies according to the second configuration in order to identify a second configuration different from the first configuration, which is associated with a second object, and to position the first interface of the first tool at a third position relative to the base, and the second interface of the second tool at a fourth position relative to the base.

[0148] Example 22. An adjustable fixture for receiving an object may comprise a base, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly may comprise a first plurality of links, a first plurality of couplers coupling the first plurality of links to the base and providing at least two degrees of freedom, and a first tool coupled to the base through the first plurality of links and the first plurality of couplers. The first tool may include a first interface extending above the base. The first interface may be positionable relative to the base at multiple positions based on the first plurality of links and the first plurality of couplers. The second adjustable assembly comprises a second plurality of links and a second plurality of couplers connecting the second plurality of links to a base, the second plurality of couplers providing at least two degrees of freedom, and a second tool coupled to the base through the second plurality of links and the second plurality of couplers. The second tool may include a second interface extending above the base. The second interface is positionable relative to the base at multiple positions based on the second plurality of links and the second plurality of couplers.

[0149] Example 23. The adjustable fastener described in Example 22, wherein the first tool and the second tool may each be single-sided tools.

[0150] Example 24. The adjustable fixture as in Example 23, wherein the single-sided tool may be one of a magnetic gripper, a suction gripper, a pink lamp, or a locator.

[0151] Example 25. The adjustable fastener described in Example 22, wherein the first tool and the second tool may each be a double-sided tool.

[0152] Example 26. An adjustable fixture according to any one of Examples 22 to 25, further comprising a controller configured to configure a first adjustable assembly and a second adjustable assembly according to the first configuration in order to identify a first configuration associated with a first object, to position a first interface of a first tool in a first position relative to the base, and to position a second interface of a second tool in a second position relative to the base.

[0153] Example 27. The adjustable fixture according to Example 26, wherein the first configuration associated with the first object may be identified according to a sequence including the first object and the second object. The controller may be further configured to identify the second configuration associated with the second object according to a sequence, to position the first interface of the first tool at a third position relative to the base, and to configure the first adjustable assembly and the second adjustable assembly according to the second configuration to position the second interface of the second tool at a fourth position relative to the base.

[0154] Example 28. The adjustable fastener according to Example 22, wherein the first plurality of links and the first plurality of couplers may provide six degrees of freedom for positioning the first tool relative to the base, and the second plurality of links and the second plurality of couplers may provide six degrees of freedom for positioning the second tool relative to the base.

[0155] Example 29. The adjustable fixture according to Example 28, wherein each of the first adjustable assembly and the second adjustable assembly may be independently coupled to the base.

[0156] Example 30. A method for controlling an adjustable assembly of an EOAT for a robot may include identifying a first configuration associated with a first object; configuring the adjustable assembly such that the interface of the adjustable assembly has a first position relative to the base of the adjustable assembly; engaging a tool with the adjustable assembly so that the adjustable assembly can grasp and engage the first object; disengaging the tool with the adjustable assembly; identifying a second configuration associated with a second object; configuring the adjustable assembly such that the interface of the adjustable assembly has a second position relative to the base of the adjustable assembly, wherein the second position is different from the first position; engaging a tool with the adjustable assembly so that the adjustable assembly can grasp and engage the second object; and disengaging the tool with the adjustable assembly.

[0157] Example 31. The method according to Example 30, wherein a first configuration associated with a first object may be identified according to a stored sequence including the first object and the second object, and a second configuration associated with a second object may be identified according to a stored sequence.

[0158] Example 32. The method according to Example 30, in another example, the first configuration associated with a first object may be identified in response to detecting the first object using computer vision, and the second configuration associated with a second object may be identified in response to detecting the second object using computer vision.

[0159] Example 33. The method according to Example 30, wherein configuring an adjustable assembly according to the first configuration may include detecting a first object using computer vision and dynamically configuring the adjustable assembly based on the detected first object.

[0160] Example 34. The method according to Example 30, wherein configuring an adjustable assembly according to the first configuration may include using computer vision to identify the location of a first object and configuring the interface of the adjustable assembly according to the identified location.

[0161] Example 35. A method for controlling an adjustable assembly of an EOAT for a robot, comprising: identifying a first configuration associated with a first object; configuring the adjustable assembly according to a first configuration in which the first interface of the first tool of the adjustable assembly may have a first position relative to the base, the second interface of the second tool of the adjustable assembly may have a second position relative to the base, and the third interface of the third tool of the adjustable assembly may have a third position relative to the base; engaging multiple tools of the adjustable assembly so as to cause the adjustable assembly to grip and engage the first object; disengaging multiple tools of the adjustable assembly; identifying a second configuration associated with a second object; and moving at least one of the first interface of the first tool, the second interface of the second tool, and the third interface of the third tool relative to the first configuration. The adjustable assembly may include configuring an adjustable assembly according to a second configuration, engaging a plurality of tools of the adjustable assembly to grip and engage a second object with the adjustable assembly, and disengaging the plurality of tools of the adjustable assembly. The adjustable assembly may include a base and a plurality of tools, including a first tool having a first interface, a second tool having a second interface, and a third tool having a third interface. The first interface of the first tool may be movable with 6 degrees of freedom relative to the base. The second interface of the second tool may be movable with 6 degrees of freedom relative to the base. The third interface of the third tool may be movable with 6 degrees of freedom relative to the base.

[0162] Example 36. The method according to Example 35, wherein a first configuration associated with a first object may be identified according to a stored sequence including the first object and the second object, and a second configuration associated with a second object may be identified according to a stored sequence.

[0163] Example 37. The method according to Example 35, in another example, the first configuration associated with the first object may be identified in response to detecting the first object using computer vision, and the second configuration associated with the second object may be identified in response to detecting the second object using computer vision.

[0164] Example 38. The method according to Example 35, wherein configuring an adjustable assembly according to the first configuration may include detecting a first object using computer vision and dynamically configuring the adjustable assembly based on the detected first object.

[0165] Example 39. The method according to Example 35, wherein configuring an adjustable assembly according to the first configuration may include using computer vision to identify the location of a first object and configuring the interface of the adjustable assembly according to the identified location.

[0166] Embodiment 40. An adjustable arm-end tool for a robot is adapted to be coupled to a robot and may comprise a base including a linear rail defining a first axis, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly may comprise a first plurality of links, a first plurality of couplers coupling the plurality of links to the base, and a first tool. The first plurality of couplers can enable linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, linear motion along a third axis perpendicular to both the first and second axes, and rotation about at least two of a fourth axis, a fifth axis, and a sixth axis. The first tool can be coupled to the base through the first plurality of links and the first plurality of couplers. The first tool may include a first interface that is positionable relative to the base at multiple positions based on the first plurality of links and the first plurality of couplers. A second adjustable assembly can be coupled to the base. The second adjustable assembly may comprise a second plurality of links, a second plurality of couplers connecting the plurality of links to the base, the second plurality of couplers capable of providing at least two degrees of freedom, and a second tool. The second tool can be coupled to the base through the second plurality of links and the second plurality of couplers. The second tool may include a second interface that is positionable relative to the base at multiple positions based on the second plurality of links and the second plurality of couplers.

[0167] Example 41. The adjustable arm end tool according to Example 40, wherein the first plurality of couplers may allow rotation about each of the fourth, fifth, and sixth axes.

[0168] Example 42. An adjustable arm end tool according to any one of Examples 40 and 41, wherein the fourth axis may be the first axis, the fifth axis may be the second axis, and the sixth axis may be the third axis.

[0169] Example 43. The adjustable fixture according to Example 40, wherein each of the first adjustable assembly and the second adjustable assembly may be independently coupled to the base.

[0170] Example 44. The adjustable arm end tool according to Example 43, which further comprises a third adjustable assembly coupled to the base. The third adjustable assembly may comprise a third plurality of links, a third plurality of couplers connecting the third plurality of links to the base, providing at least two degrees of freedom, and a third tool coupled to the base through the third plurality of links and the third plurality of couplers.

[0171] Example 45. An adjustable arm end tool according to Example 44, wherein the base may have a longitudinal central plane. The first and third adjustable assemblies are located on the first side of the longitudinal central plane, and the second adjustable assembly is located on the second side of the longitudinal central plane, the second side being opposite to the first side.

[0172] Example 46. The adjustable arm end tool according to Example 45, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly may be independently coupled to the base.

[0173] Example 47. An adjustable arm end tool for a robot may comprise a base adapted to be coupled to a robot, a first adjustable assembly coupled to the base, and a second adjustable assembly coupled to the base. The first adjustable assembly may comprise a first linear adjustment subassembly coupled to the base. The first linear adjustment subassembly can provide at least two degrees of linear motion relative to the base. The first adjustable assembly may further comprise a first rotational adjustment subassembly coupled to the base through the first linear subassembly. The first rotational adjustment subassembly can provide at least two degrees of rotational motion relative to the base. The first adjustable assembly may further comprise a first tool coupled to the base through a first rotational subassembly and a first linear subassembly. The first tool includes a first interface that is positionable relative to the base at multiple positions based on the first linear adjustment subassembly and the first rotational adjustment subassembly. A second adjustable assembly may be coupled to the base. The second adjustable subassembly may comprise a second linear adjustment subassembly coupled to the base. The second adjustable assembly may further comprise a second rotational adjustment subassembly coupled to the base through a second linear subassembly. The second adjustable assembly may further comprise a second tool, which may be coupled to the base through a second rotational subassembly and a second linear subassembly. The second tool may include a second interface that is positionable relative to the base at multiple positions based on the second linear adjustment subassembly and the second rotational adjustment subassembly.

[0174] Example 48. The adjustable arm end tool according to Example 47, wherein the first rotation adjustment subassembly may provide at least 3 degrees of rotational motion relative to the base.

[0175] Example 49. An adjustable arm end tool as in Example 47, wherein the base may include a linear rail defining a first axis. The first linear adjustment subassembly comprises a first plurality of linear rails The system may include a plurality of first couplers connecting the plurality of links and the base. The plurality of first couplers may enable linear motion along a first axis, enable linear motion along a second axis perpendicular to the first axis, or enable linear motion along a third axis perpendicular to both the first and second axes.

[0176] Example 50. The adjustable arm end tool according to Example 49, wherein the first rotational adjustment subassembly may provide at least 3 degrees of rotational motion relative to the linear adjustment subassemblies about the fourth, fifth, and sixth axes.

[0177] Example 51. The adjustable arm end tool according to Example 50, wherein the fourth axis is the first axis, the fifth axis is the second axis, and the sixth axis is the third axis.

[0178] Example 52. An adjustable arm end tool according to any one of Examples 50 and 51, wherein the fourth axis, the fifth axis, and the sixth axis may intersect at a common point.

[0179] Example 53. An adjustable arm end tool according to any one of Examples 47 to 52, wherein the first tool and the second tool may each be a single-sided tool.

[0180] Example 54. The adjustable arm end tool described in Example 53, wherein the single-sided tool is one of a magnetic gripper, a suction gripper, a pink ramp, or a locator.

[0181] Example 55. An adjustable arm end tool according to any one of Examples 47 to 52, wherein the first tool and the second tool may each be a double-sided tool.

[0182] Example 56. An adjustable arm end tool according to any one of Examples 47 to 55, further comprising a controller configured to configure a first adjustable assembly and a second adjustable assembly according to the first configuration in order to identify a first configuration associated with a first object, to position a first interface of a first tool in a first position relative to the base, and to position a second interface of a second tool in a second position relative to the base.

[0183] Example 57. The adjustable arm-end tool according to Example 56, wherein the first configuration associated with the first object may be identified according to a sequence including the first object and the second object. The controller may be further configured to identify a second configuration associated with the second object according to a sequence, to position the first interface of the first tool at a third position relative to the base, and to configure the first adjustable assembly and the second adjustable assembly according to the second configuration to position the second interface of the second tool at a fourth position relative to the base.

[0184] Example 58. The adjustable arm end tool according to Example 47, further comprising a third adjustable assembly coupled to a base. The third adjustable assembly may comprise a third linear adjustment subassembly coupled to the base. The third linear adjustment subassembly can provide at least two degrees of linear motion relative to the base. The third adjustable assembly may further comprise a third rotational adjustment subassembly coupled to the base through the third linear subassembly. The third rotational adjustment subassembly can provide at least two degrees of rotational motion relative to the base. The third tool may be coupled to the base through the third rotational subassembly and the third linear subassembly. The third tool may include a third interface that is positionable relative to the base at multiple positions based on the third linear adjustment subassembly and the third rotational adjustment subassembly.

[0185] Example 59. An adjustable arm end tool according to Example 58, wherein the base may have a longitudinal central plane. The first and third adjustable assemblies are located on the first side of the longitudinal central plane, and the second adjustable assembly is located on the second side of the longitudinal central plane, the second side being opposite to the first side.

[0186] Example 60. An adjustable arm end tool according to either one of Examples 58 or 59, wherein the first plurality of links and the first plurality of couplers may provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and the second plurality of couplers may provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and the third plurality of couplers may provide six degrees of freedom for positioning the third tool relative to the base.

[0187] Example 61. The adjustable arm end tool according to Example 60, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly may be independently coupled to the base.

[0188] The descriptions and examples of one or more embodiments provided in this application are not intended in any way to limit or restrict the scope of the claimed disclosure. The embodiments, examples, and details provided in this application are considered sufficient to communicate ownership and enable others to create and use the best form of the claimed disclosure. The claimed disclosure should not be construed as being limited to any embodiments, examples, or details provided in this application. Various features (both structural and methodological), whether shown and described in combination or separately, are intended to be selectively included or omitted to produce embodiments having a particular set of features. While the descriptions and examples of this application have been provided, those skilled in the art can envision variations, modifications, and alternative embodiments that do not deviate from the broader scope of the claimed disclosure but fall within the spirit of the broader embodiments of the general inventive concept embodied in this application.

Claims

1. An adjustable arm end tool for robots, A base adapted to be coupled to the robot, A first adjustable assembly coupled to the base, The first set of multiple links, A first set of couplers connecting the plurality of links and the base, providing at least two degrees of freedom, A first adjustable assembly comprising a first tool connected to the base through a plurality of first links and a plurality of first couplers, the first tool including a first interface that is positionable relative to the base at a plurality of positions based on the plurality of first links and a plurality of first couplers, A second adjustable assembly coupled to the base, Secondly, multiple links, A second plurality of couplers connect the plurality of links and the base, wherein the first plurality of couplers provide at least two degrees of freedom, An adjustable arm end tool comprising a second adjustable assembly, the second tool being coupled to the base through the second plurality of links and the second plurality of couplers, and including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

2. The adjustable arm end tool according to claim 1, wherein at least one of the first tool and the second tool is a magnetic gripper.

3. The adjustable arm end tool according to claim 1, wherein the base has a longitudinal central plane, the first adjustable assembly is positioned on the first side of the longitudinal central plane, and the second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.

4. The adjustable arm end tool according to any one of claims 1 to 3, wherein the base includes a linear rail defining a first axis.

5. The adjustable arm end tool according to claim 4, wherein the first plurality of couplers enable linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, and linear motion along a third axis perpendicular to both the first and second axes.

6. The aforementioned first set of links are A first linear rail is parallel to the second axis and slidably coupled to the linear rail, A second linear rail is parallel to the third axis and slidably coupled to the first linear rail. The adjustable arm end tool according to claim 5, including the following:

7. The adjustable arm end tool according to any of the preceding claims, wherein the first plurality of couplers enable rotation about at least one of the first axis, the second axis, and the third axis.

8. The adjustable arm end according to claim 7, wherein the first plurality of couplers allow rotation about at least two of the first axis, the second axis, and the third axis. tool.

9. The adjustable arm end tool according to claim 8, wherein the first plurality of couplers enable rotation about each of the first axis, the second axis, and the third axis.

10. The adjustable arm end tool according to claim 1, wherein the first tool and the second tool are each single-sided tools.

11. The aforementioned single-sided tool is Magnetic gripper, Adhesive gripper, Pink lamp, or An adjustable arm end tool according to claim 10, which is one of the locators.

12. The adjustable arm end tool according to claim 1, wherein the first tool and the second tool are each double-sided tools.

13. The double-sided tool is Power clamp, Parallel clamp, Swing unit, Multi-finger gripping device, or An adjustable arm end tool according to claim 12, which is one of the Mylar gripping devices.

14. A third adjustable assembly coupled to the base, A third set of links, A third plurality of couplers connecting the third plurality of links and the base, providing at least two degrees of freedom, The adjustable arm end tool according to claim 1, further comprising a third adjustable assembly, the third tool being coupled to the base through the third plurality of links and the third plurality of couplers.

15. The adjustable arm end tool according to claim 14, wherein the base has a longitudinal central plane, the first adjustable assembly and the third adjustable assembly are positioned on the first side of the longitudinal central plane, and the second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.

16. The adjustable arm end tool according to any one of claims 13 and 14, wherein the first plurality of links and the first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and the third plurality of couplers provide six degrees of freedom for positioning the third tool relative to the base.

17. The adjustable arm end tool according to claim 16, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly is independently coupled to the base.

18. The first plurality of links and the first plurality of couplers connect the first tool to the base. The adjustable arm end tool according to claim 1, wherein the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base.

19. The adjustable arm end tool according to claim 18, wherein each of the first adjustable assembly and the second adjustable assembly is independently coupled to the base.

20. It is a controller, Identify a first configuration associated with a first object, An adjustable arm end tool according to any of the preceding claims, further comprising a controller configured to configure the first adjustable assembly and the second adjustable assembly according to the first configuration in order to position the first interface of the first tool at a first position relative to the base and the second interface of the second tool at a second position relative to the base.

21. The aforementioned controller, Identify a second configuration, which is associated with a second object and is different from the first configuration, An adjustable arm end tool according to claim 20, further configured to configure the first adjustable assembly and the second adjustable assembly according to the second configuration in order to position the first interface of the first tool at a third position relative to the base and the second interface of the second tool at a fourth position relative to the base.

22. An adjustable fastener for receiving an object, The base and, A first adjustable assembly coupled to the base, The first set of multiple links, A first plurality of couplers connecting the first plurality of links and the base, providing at least two degrees of freedom, A first adjustable assembly comprising: a first tool connected to the base through a plurality of first links and a plurality of first couplers, extending above the base and including a first interface that is positionable relative to the base at a plurality of positions based on the plurality of first links and a plurality of first couplers; A second adjustable assembly coupled to the base, Secondly, multiple links, A second plurality of couplers connecting the second plurality of links and the base, providing at least two degrees of freedom, An adjustable fixture comprising a second adjustable assembly, the second tool being coupled to the base through the second plurality of links and the second plurality of couplers, extending above the base, and including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

23. The adjustable fastener according to claim 22, wherein the first tool and the second tool are each single-sided tools.

24. The aforementioned single-sided tool is Magnetic gripper, Adhesive gripper, Pink lamp, or An adjustable fastener according to claim 23, which is one of the locators.

25. The adjustable fastener according to claim 22, wherein the first tool and the second tool are each double-sided tools.

26. It is a controller, Identify a first configuration associated with a first object, An adjustable fixture according to any one of claims 22 to 25, further comprising a controller configured to configure the first adjustable assembly and the second adjustable assembly according to the first configuration in order to position the first interface of the first tool at a first position relative to the base and the second interface of the second tool at a second position relative to the base.

27. The first configuration associated with the first object is identified according to a sequence including the first object and the second object, The controller identifies a second configuration associated with the second object according to the sequence, The adjustable fastener according to claim 26, further configured to configure the first adjustable assembly and the second adjustable assembly according to the second configuration in order to position the first interface of the first tool at a third position relative to the base and the second interface of the second tool at a fourth position relative to the base.

28. The adjustable fastener according to claim 22, wherein the first plurality of links and the first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, and the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base.

29. The adjustable fastener according to claim 28, wherein each of the first adjustable assembly and the second adjustable assembly is independently coupled to the base.

30. A method for controlling an adjustable assembly of an EOAT for a robot, Identifying a first configuration associated with a first object, The interface of the adjustable assembly constitutes the adjustable assembly according to a first configuration having a first position relative to the base of the adjustable assembly, Engaging a tool with the adjustable assembly to cause the adjustable assembly to grip or engage the first object, Disengaging the tool of the adjustable assembly, Identifying a second configuration associated with a second object, The adjustable assembly is configured such that the interface of the adjustable assembly has a second position relative to the base of the adjustable assembly, wherein the second position is different from the first position. Engaging the tool of the adjustable assembly to cause the adjustable assembly to grip or engage the second object, Disengaging the tool of the adjustable assembly Methods that include...

31. The first configuration associated with the first object is identified according to a stored sequence including the first object and the second object. The second configuration associated with the second object follows the stored sequence. The method according to claim 30, which is identified as such.

32. The first configuration associated with the first object is identified in response to detecting the first object using computer vision, The method according to claim 30, wherein the second configuration associated with the second object is identified in response to detecting the second object using computer vision.

33. Configuring the adjustable assembly according to the first configuration is Detecting the first object using computer vision, Dynamically configuring the adjustable assembly based on the detected first object and The method according to claim 30, including the method described in claim 30.

34. Configuring the adjustable assembly according to the first configuration is Identifying the location of the first object using computer vision, Configuring the interface of the adjustable assembly according to the identified location The method according to claim 30, including the method described in claim 30.

35. A method for controlling an adjustable assembly of an EOAT for a robot, the adjustable assembly comprising a base and a plurality of tools including a first tool having a first interface, a second tool having a second interface, and a third tool having a third interface, wherein the first interface of the first tool is movable with six degrees of freedom relative to the base, the second interface of the second tool is movable with six degrees of freedom relative to the base, and the third interface of the third tool is movable with six degrees of freedom relative to the base, and the method is Identifying a first configuration associated with a first object, The adjustable assembly is configured according to the first configuration, wherein the first interface of the first tool of the adjustable assembly has a first position relative to the base, the second interface of the second tool of the adjustable assembly has a second position relative to the base, and the third interface of the third tool of the adjustable assembly has a third position relative to the base. Engaging the plurality of tools of the adjustable assembly, thereby causing the adjustable assembly to grip and engage the first object, Disengaging the plurality of tools of the adjustable assembly, Identifying a second configuration associated with a second object, The adjustable assembly is configured according to a second configuration in which at least one of the first interface of the first tool, the second interface of the second tool, and the third interface of the third tool is moved relative to the first configuration, Engaging the plurality of tools of the adjustable assembly, thereby causing the adjustable assembly to grip and engage the second object, Disengaging the plurality of tools of the adjustable assembly Methods that include...

36. The first configuration associated with the first object is identified according to a stored sequence including the first object and the second object. The method of claim 35, wherein the second configuration associated with the second object is identified according to the stored sequence.

37. The first configuration associated with the first object is visualized using computer vision. Identified in response to the detection of the aforementioned first object, The method according to claim 35, wherein the second configuration associated with the second object is identified in response to detecting the second object using computer vision.

38. Configuring the adjustable assembly according to the first configuration is Detecting the first object using computer vision, Dynamically configuring the adjustable assembly based on the detected first object and The method according to claim 35, including the method described in claim 35.

39. Configuring the adjustable assembly according to the first configuration is Identifying the location of the first object using computer vision, Configuring the interface of the adjustable assembly according to the identified location The method according to claim 35, including the method described in claim 35.

40. An adjustable arm end tool for robots, A base, which is adapted to be coupled to the robot, and includes a linear rail defining a first axis, A first adjustable assembly coupled to the base, The first set of multiple links, A first set of couplers connecting the plurality of links and the base, enabling linear motion along the first axis, linear motion along a second axis perpendicular to the first axis, linear motion along a third axis perpendicular to both the first and second axes, and rotation around at least two of the fourth, fifth, and sixth axes, A first adjustable assembly comprising a first tool connected to the base through a plurality of first links and a plurality of first couplers, the first tool including a first interface that is positionable relative to the base at a plurality of positions based on the plurality of first links and a plurality of first couplers, A second adjustable assembly coupled to the base, Secondly, multiple links, A second set of couplers connecting the aforementioned multiple links and the base, providing at least two degrees of freedom, An adjustable arm end tool comprising a second adjustable assembly, the second tool being coupled to the base through the second plurality of links and the second plurality of couplers, and including a second interface that is positionable relative to the base at a plurality of positions based on the second plurality of links and the second plurality of couplers.

41. The adjustable arm end tool according to claim 40, wherein the first plurality of couplers enable rotation about each of the fourth axis, the fifth axis, and the sixth axis.

42. The adjustable arm end tool according to any one of claims 40 and 41, wherein the fourth axis is the first axis, the fifth axis is the second axis, and the sixth axis is the third axis.

43. The adjustable fastener according to claim 40, wherein each of the first adjustable assembly and the second adjustable assembly is independently coupled to the base.

44. A third adjustable assembly coupled to the base, A third set of links, A third plurality of couplers connecting the third plurality of links and the base, providing at least two degrees of freedom, The adjustable arm end tool according to claim 43, further comprising a third adjustable assembly, the third tool being coupled to the base through the third plurality of links and the third plurality of couplers.

45. The adjustable arm end tool according to claim 44, wherein the base has a longitudinal central plane, the first adjustable assembly and the third adjustable assembly are positioned on the first side of the longitudinal central plane, and the second adjustable assembly is positioned on the second side of the longitudinal central plane, the second side being opposite to the first side.

46. The adjustable arm end tool according to claim 45, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly is independently coupled to the base.

47. An adjustable arm end tool for robots, A base adapted to be coupled to the robot, A first adjustable assembly coupled to the base, A first linear adjustment subassembly coupled to the base, which provides at least two degrees of linear motion relative to the base, A first rotation adjustment subassembly, coupled to the base via the first linear subassembly, provides at least two rotational movements relative to the base; A first adjustable assembly comprising: a first tool coupled to the base through the first rotary subassembly and the first linear subassembly, the first tool including a first interface that is positionable relative to the base at multiple positions based on the first linear adjustment subassembly and the first rotary adjustment subassembly; A second adjustable assembly coupled to the base, A second linear adjustment subassembly coupled to the base, A second rotation adjustment subassembly is coupled to the base via the second linear subassembly, An adjustable arm end tool comprising a second adjustable assembly, the second tool being coupled to the base through the second rotary subassembly and the second linear subassembly, the second tool including a second interface that is positionable relative to the base at a plurality of positions based on the second linear adjustment subassembly and the second rotary adjustment subassembly.

48. The adjustable arm end tool according to claim 47, wherein the first rotation adjustment subassembly provides at least 3 degrees of rotational movement relative to the base.

49. The adjustable arm end tool according to claim 47, wherein the base includes a linear rail defining a first axis, and the first linear adjustment subassembly includes a plurality of first links and a plurality of first couplers connecting the plurality of links to the base, enabling linear motion along the first axis, enabling linear motion along a second axis perpendicular to the first axis, and enabling linear motion along a third axis perpendicular to both the first axis and the second axis.

50. The adjustable arm end tool according to claim 49, wherein the first rotation adjustment subassembly provides at least 3 degrees of rotational motion relative to the linear adjustment subassembly about the fourth, fifth, and sixth axes.

51. The adjustable arm end tool according to claim 50, wherein the fourth axis is the first axis, the fifth axis is the second axis, and the sixth axis is the third axis.

52. The adjustable arm end tool according to any one of claims 50 and 51, wherein the fourth axis, the fifth axis, and the sixth axis intersect at a common point.

53. The adjustable arm end tool according to any one of claims 47 to 52, wherein the first tool and the second tool are each single-sided tools.

54. The aforementioned single-sided tool is Magnetic gripper, Adhesive gripper, Pink lamp, or An adjustable arm end tool according to claim 53, which is one of the locators.

55. The adjustable arm end tool according to any one of claims 47 to 52, wherein the first tool and the second tool are each double-sided tools.

56. It is a controller, Identify a first configuration associated with a first object, An adjustable arm end tool according to any one of claims 47 to 55, further comprising a controller configured to configure the first adjustable assembly and the second adjustable assembly according to the first configuration in order to position the first interface of the first tool at a first position relative to the base and the second interface of the second tool at a second position relative to the base.

57. The first configuration associated with the first object is identified according to a sequence including the first object and the second object, The controller identifies a second configuration associated with the second object according to the sequence, The adjustable arm end tool according to claim 56, further configured to configure the first adjustable assembly and the second adjustable assembly according to the second configuration in order to position the first interface of the first tool at a third position relative to the base and the second interface of the second tool at a fourth position relative to the base.

58. A third adjustable assembly coupled to the base, A third linear adjustment subassembly coupled to the base, which provides at least two degrees of linear motion relative to the base, A third rotation adjustment subassembly, which is coupled to the base via the third linear subassembly, provides at least two rotational movements relative to the base, The adjustable arm end tool according to claim 47, further comprising a third adjustable assembly, the third tool being coupled to the base through the third rotary subassembly and the third linear subassembly, and including a third interface that is positionable relative to the base at a plurality of positions based on the third linear adjustment subassembly and the third rotary adjustment subassembly.

59. The base has a longitudinal central plane, and the first adjustable assembly and the third The adjustable arm end tool according to claim 58, wherein the adjustable assembly is located on the first side of the longitudinal central plane, and the second adjustable assembly is located on the second side of the longitudinal central plane, the second side being opposite to the first side.

60. The adjustable arm end tool according to any one of claims 58 and 59, wherein the first plurality of links and the first plurality of couplers provide six degrees of freedom for positioning the first tool relative to the base, the second plurality of links and the second plurality of couplers provide six degrees of freedom for positioning the second tool relative to the base, and the third plurality of links and the third plurality of couplers provide six degrees of freedom for positioning the third tool relative to the base.

61. The adjustable arm end tool according to claim 60, wherein each of the first adjustable assembly, the second adjustable assembly, and the third adjustable assembly is independently coupled to the base.

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