End effector connector for robotic manipulators

Abstract

An end effector connector is positioned to connect a robotic arm to an end effector equipped with a suction device that engages with an item in a releasable manner when in use using vacuum pressure generated by a vacuum source. The end effector connector includes an integrated filter assembly for the vacuum source.

Description

Technical Field

[0004] , ,

[0001] The present disclosure generally relates to the field of picking stations for use in warehouses or fulfillment centers. Aspects relate to end effectors for use with robotic manipulators assigned to such picking stations, robotic manipulators and picking stations, and grid-based storage and retrieval systems comprising picking stations.

Background Art

[0002] Online retailing, which sells multiple product lines such as online grocery stores and supermarkets, requires a system that can store hundreds of thousands or even hundreds of thousands of different product lines. Using stacks of single products in such cases may not be practical as it requires a very large floor area to accommodate all the required stacks. Further, it may be desirable to store only small quantities of some items such as fresh food or items with low order frequencies, and stacks of single products are an inefficient solution. <000001​​​​​​Figure 1 illustrates a grid-based storage and retrieval system framework structure 1. Structure 1 comprises a number of upright members 3 supporting two sets of horizontal members 5 and 7 arranged laterally. The upright members 3 extend parallel to each other along the illustrated z-axis and are upright perpendicular to the horizontal members 5 and 7. The horizontal members 7 of the first set extend in the direction of the illustrated x-axis, and the horizontal members 5 of the second set extend in the direction of the illustrated y-axis. The two sets of horizontal members 5 and 7 form a grid pattern defining multiple grid cells. In the illustrated example, storage containers 9 are arranged in stacks 11, with each stack 11 positioned directly below its respective grid cell.

[0005] Figure 2 shows an enlarged plan view of a section of a lateral track structure 13 that forms part of the storage structure 1 illustrated in Figure 1. The track structure 13 is located at the top of a set of horizontal members 5, 7. The track structure 13 may be provided by the horizontal members 5, 7 themselves (for example, formed within or on the surface of the horizontal members 5, 7) or by one or more additional components attached to the top of the horizontal members 5, 7. The illustrated track structure 13 comprises x-direction tracks 17 and y-direction tracks 19, i.e., a first set of tracks 17 extending in the direction of the illustrated x-axis and a second set of tracks 19 extending in the direction of the illustrated y-axis. The tracks 17, 19 define an opening 15 in the center of the grid cell. The opening 15 is sized to allow storage containers 9 located directly below the grid cell to be lifted and lowered through the opening 15. The x-direction tracks 17 are provided in pairs separated by channels 21, and the y-direction tracks 19 are provided in pairs separated by channels 23. Other arrangements of track structure 13 are also possible.

[0006] Figure 3 shows a plurality of loading / unloading devices 31 moving along the top of the storage structure 1 illustrated in Figure 1. The loading / unloading devices 31 may also be called robots 31 or bots 31, and are provided with a set of wheels that engage with corresponding x-direction tracks 17 or y-direction tracks 19 to enable the bots 31 to move through the track structure 13 and reach specific grid cells. The illustrated pairs of tracks 17, 19 separated by channels 21, 23 allow the bots 31 to occupy adjacent grid cells or pass each other on adjacent grid cells without collision.

[0007] As shown in Figure 4, the bot 31 comprises a body 33 to which one or more components are attached, enabling the bot 31 to perform its intended functions. These functions may include the bot 31 moving through the storage structure 1 on the track structure 13, and raising or lowering storage containers 9 (e.g., from or into stack 11) so that the storage containers 9 can be taken out or placed in specific locations defined by the grid pattern. The bot 31 further comprises a first set of wheels 35 and a second set of wheels 37 attached to the body 33, which enable the bot 31 to move along tracks 17 and 19 in the x and y directions, respectively. In particular, two wheels 35 are provided on the shorter side of the bot 31 as seen in Figure 4, and two additional wheels 35 are provided on the opposite short side of the bot 31 (this side and the two additional wheels 35 are not seen in Figure 4). Wheels 35 engage with the track 17 and are rotatably mounted on the body 33 of the bot 31 to allow the bot 31 to move along the track 17. Similarly, two wheels 37 are provided on the longer side of the bot 31 as seen in Figure 4, and two more wheels 37 are provided on the opposite long side of the bot 31 (this side and the two more wheels 37 are not seen in Figure 4). Wheels 37 engage with the track 19 and are rotatably mounted on the body 33 of the bot 31 to allow the bot 31 to move along the track 19. The bot 31 also includes a container lifting mechanism (shown collectively as 39) configured to raise and lower the container 9. The container lifting mechanism 39 comprises four tapes or reels 41, which are connected at their lower ends to a container engagement assembly 43. The container engagement assembly 43 comprises engagement means (for example, provided at the corners of the assembly 43 near the tapes 41) configured to engage with corresponding features of the container 9. For example, these containers 9 may have one or more openings on their upper sides that can be engaged with engaging means.Alternatively or additionally, the container engaging means may be configured to hook under the rim or lip of the container 9 and / or to clamp or grip the container 9. The tape 41 may be wound up or down as needed to raise or lower the container engaging assembly. One or more motors or other means may be provided to carry out or control the winding up or down of the tape 41.

[0008] As can be seen in Figure 5, the body 33 of the bot 31 has an upper portion 45 and a lower portion 47. The upper portion 45 is configured to house one or more operating components (not shown) that enable the bot 31 to perform its intended function, and the lower portion 47 is located directly below the upper portion 45. The lower portion 47 has a container receiving space or cavity for accommodating at least a portion of the container 9 lifted by the container lifting means 39. The container receiving space is sized so that the container 9 can fit sufficiently into the cavity, enabling the bot 31 to move through the uppermost track structure 13 of the storage structure 1 without the lower side of the container 9 getting caught on the track structure 13 or another part of the storage structure 1. When the bot 31 reaches its intended destination, the container lifting means 39 controls the tape 41 to release the container gripping assembly 43 and the corresponding container 9 from the cavity in the lower portion 47 and lower them to the intended position. The intended location could be the stack 11 of containers 9 or the exit point of the storage structure 1 (or, if the bot 31 moves to collect containers 9 for storage in the storage structure 1, the entry point of the storage structure 1). In the illustrated example, the upper portion 45 and the lower portion 47 are separated by a physical partition, but in other embodiments, the upper portion 45 and the lower portion 47 may not be physically separated by a specific component or part of the body 33 of the bot 31.

[0009] In some embodiments, the container receiving space does not have to be located within the body 33 of the bot 31. For example, in some embodiments, the container receiving space may be adjacent to the body 33 of the bot 31, for example, in a cantilever arrangement where the weight of the body 33 of the bot 31 balances the weight of the container being lifted. In such embodiments, the frame or arm of the container lifting means 39 may project horizontally from the body 33, and the tape / reel 41 may be positioned at their respective locations on the projecting frame / arm and configured to rise and fall from those locations to raise and lower the container into the container receiving space adjacent to the body 33. The height to which the frame / arm is attached to the body 33 of the bot 31 and projects from there may be chosen to provide a desired effect. For example, it may be preferable for the frame / arm to project at a higher level on the body 33 of the bot 31 to allow larger containers (or multiple containers) to be lifted into the container receiving space directly below the frame / arm. Alternatively, the frame / arm may be positioned to protrude lower on the body 33 (but still high enough to accommodate at least one container between the frame / arm and the track structure 13) in order to keep the center of gravity of the bot 31 lower when a container is loaded onto the bot 31.

[0010] To enable the bot 31 to move in first and second directions on different wheels 35, 37, the bot 31 includes a wheel positioning mechanism for selectively engaging the first set of wheels 35 with the first set of tracks 17, or the second set of wheels 37 with the second set of tracks 19. The wheel positioning mechanism is configured to raise and lower the first set of wheels 35 or the second set of wheels 37 relative to the body 33, thereby enabling the loading / unloading device 31 to move selectively in either the first or second direction across the tracks 17, 19 of the storage structure 1.

[0011] The wheel positioning mechanism may include one or more linear actuators, rotating components, or other means for raising and lowering at least one set of wheels 35, 37 relative to the body 33, thereby moving at least one set of wheels 35, 37 away from or into contact with the tracks 17, 19. In some examples, only one set of wheels 35, 37 is configured to be raised and lowered, so that lowering one set of wheels 35, 37 can effectively lift the other set of wheels 35, 37 away from the corresponding tracks 17, 19, and raising one set of wheels 35, 37 can effectively lower the other set of wheels 35, 37 into contact with the corresponding tracks 17, 19. In other examples, both sets of wheels 35, 37 may be capable of being raised and lowered, which is advantageous as it means that the body 33 of the bot 31 remains at substantially the same height, and therefore the wheel positioning mechanism does not need to lift or lower the weight of the body 33 and the components attached thereto.

[0012] As shown in Figure 3, multiple identical handling devices 31 are provided so that each handling device 31 can operate simultaneously to increase the system's processing capacity. The system illustrated in Figure 3 may include specific locations known as ports, where containers can be moved in or out of the system. Additional conveyor systems (not shown) are associated with each port, so that containers 9 transported to a port by a handling device 31 can be transported by the conveyor system to another location, such as a picking station (not shown). Similarly, containers 9 can be moved by the conveyor system from an external location to a port, such as a container filling station (not shown), and then transported by the handling device 31 to a stack 12 to replenish inventory in the system.

[0013] Each handling device 31 can lift and move one container 9 at a time. If it is necessary to remove a container 9 that is not located at the top of the stack ("target container 9"), the containers 9 above it ("non-target containers 9") must first be moved in order to allow access to the target container. This is achieved in an operation hereafter referred to as "digging". During the digging operation, one of the handling devices 31 lifts each non-target container in turn from the stack 11 containing the target container and places it in an empty position in another stack 11. The target container can then be accessed by the handling device 31 and moved to a port for further transport.

[0014] Each of the cargo handling devices 31 is under the control of a central computer. Each individual container 9 in the system is tracked so that it can be removed, transported, and replaced as needed. For example, during excavation operations, the location of each non-target container is logged so that non-target containers can be tracked.

[0015] The system described with reference to Figures 1-5 has many advantages and is suitable for a wide range of storage and retrieval operations. In particular, the system enables very high-density product storage, provides a very economical way to store a wide range of different items in containers, and allows fairly economical access to all containers when needed for picking.

[0016] Referring to Figure 6, the system may further include a robotic picking station (indicated as 50 collectively) mounted on top of Structure 1, alongside a material handling device 31 (not shown). The robotic picking station 50 includes a robotic manipulator 52, along with several designated grid cells 60, 62, and a robotic arm 54 and an end effector 56 for releasably engaging with the product being handled. The robotic manipulator 52 is mounted on a pedestal 58 above a single grid cell 60 and, depending on its position on Structure 1, may be surrounded by up to eight other grid cells 62. Generally, the robotic manipulator 52 is configured to pick an item or product from one of a container 9 located in one of the designated grid cells 62 and place it into a container 9 located in another of the cells 62. The material handling device 31 collects or delivers the containers 9 from the designated grid cells 62 as needed. In this way, the robotic picking station 50 and the handling equipment 31 work together to fulfill customer orders or redistribute products throughout the structure 1. The end effector 56 includes a suction device 64 connected to a vacuum source in the form of a rotary vane pump (not shown). The vane pump forms part of a low-pressure circuit configured to provide vacuum pressure in the suction device 64, allowing the suction device 64 to attach to the product being handled. Due to its size and weight, and to avoid occupying any grid cells, the vane pump is located away from the top of the storage and retrieval structure 1. Instead, it is typically located at ground level for easy access, making installation and maintenance easier. However, this arrangement presents several problems. Firstly, locating the vane pump at ground level can create a risk of burns from the heat generated by the vane pump during use. Secondly, the distance between the vane pump and the suction device 64, which can be on the order of several meters, necessitates the use of a large-diameter vacuum line 66 to minimize vacuum loss between the vane pump and the suction device 64.However, to prevent collapse due to vacuum pressure, the vacuum line 66 must be reinforced with a moderate degree of rigidity. This may reduce the dexterity of the robotic manipulator 52, as the vacuum line 66 needs to be attached to the robotic arm 54 to pass through to the suction device 64. Finally, since vane pumps are not typically rated to operate below 5°C, their use is not suitable for some environments (e.g., refrigerated areas). [Overview of the project]

[0017] Therefore, in this specification, A robotic arm and An end effector equipped with a suction device that engages with an item in a releasable manner when in use using vacuum pressure generated by a vacuum source, An end effector connector is provided, positioned to connect the following: This end effector connector features an integrated filter assembly for the vacuum source.

[0018] This configuration allows the entire end-effector assembly, including the vacuum filter in the connector and the end-effector connected via the connector, to be disconnected and reconnected from the robot arm. Therefore, downtime associated with a faulty filter, such as a filter element requiring replacement, can be reduced by disconnecting the end-effector assembly and replacing it with a working one while the removed filter is repaired. For example, in other systems, removing a vacuum filter or its faulty component from a robot arm can be time-consuming and require specialized tools, especially if there are multiple mounting points on or near the robot arm.

[0019] Next, these embodiments and other embodiments will be described simply as examples with reference to the attached drawings. [Brief explanation of the drawing]

[0020] [Figure 1] Shows a schematic diagram of an automatic storage and retrieval structure. [Figure 2] Shows a schematic plan view of a section of a track structure forming part of the storage structure of FIG. 1. [Figure 3] Shows a schematic diagram of a plurality of handling devices moving to the top of the storage structure of FIG. 1. [Figure 4] Shows a schematic diagram of a handling device interacting with a container. [Figure 5] Shows a schematic diagram of a handling device interacting with a container. [Figure 6] Shows a schematic diagram of a known robotic picking station. [Figure 7] Shows a schematic diagram of a robotic picking station according to one embodiment. [Figure 8] Is an exploded view of an end effector assembly including an end effector connector for use in the robotic picking station of FIG. 7. [Figure 9A] Shows one of two isometric views of the end effector assembly of FIG. 8. [Figure 9B] Shows one of two isometric views of the end effector assembly of FIG. 8. [Figure 10A] Shows a cross-sectional view of a manifold used in the suction assembly of the end effector connector of FIG. 8 in a vertical plane along line A-A of FIG. 9A. [Figure 10B] Shows a cross-sectional view of a manifold used in the suction assembly of the end effector connector of FIG. 8 in a horizontal plane along line A-A of FIG. 9A. [Figure 11] Shows a schematic diagram of a fluid power circuit used with the end effector connector of FIG. 8 in one operating mode. [Figure 12] Shows a schematic diagram of the fluid power circuit of FIG. 11 in different operating modes. [Figure 13] Shows an isometric view of the structural frame of the end effector connector of FIG. 8. [Figure 14A] Shows an isometric view of the end of a twist lock connection system. [Figure 14B] This shows a cross-sectional view of the end of a twistlock connection system. [Figure 15A] This shows a plan view of the twistlock connection system in the unlocked state. [Figure 15B] This shows a plan view of the twistlock connection system in the locked state. [Modes for carrying out the invention]

[0021] In drawings, where appropriate, similar features are indicated by the same reference numerals.

[0022] The following description includes several specific details to provide a complete understanding of the disclosed examples. However, those skilled in the art will recognize that other examples can be carried out without one or more of these specific details, or using other components, materials, etc., and that structural modifications can be made without departing from the scope defined in the appended claims. Furthermore, any reference in the following description to any term with an implied orientation is not intended to be limiting, but refers only to the orientation of the features shown in the accompanying drawings. In some cases, well-known features or systems, such as processors, sensors, memory devices, network interfaces, fasteners, and electrical connectors, are not illustrated or described in detail to avoid unnecessarily obscuring the description of the disclosed embodiments.

[0023] Unless the context requires otherwise, throughout this specification and the appended claims, the word “comprise,” and its variations such as “comprises” and “comprising,” should be interpreted in an open and comprehensive sense, including but not limited to “including.”

[0024] Throughout this specification, any reference to "embodiments" or "examples" followed by "one," "an," or "another" means that a particular feature, structure, or characteristic of an embodiment, example, or implementation described in relation to that embodiment, example, or implementation is included in at least one embodiment, example, or implementation. Therefore, phrases such as "in one embodiment" appearing in various places throughout this specification do not necessarily all refer to the same embodiment. Furthermore, specific features, structures, or characteristics can be combined in any preferred manner in one or more embodiments, examples, or implementations.

[0025] When used herein and in the appended claims, the user forms "a," "an," and "the" should be noted to include multiple references unless otherwise clearly indicated by the context. Furthermore, the term "or" should be used collectively to mean "and / or" unless otherwise clearly indicated by the context.

[0026] Figure 7 shows a schematic diagram of a robot picking station 100 according to one embodiment. The robot picking station 100 is mounted on a framework structure 1 similar to that described above and forms part of a grid-based storage and retrieval system. The robot picking station 100 includes a pedestal 102 to which a robot manipulator 104 is mounted. The pedestal 102 is sized and shaped so that it can be largely accommodated in the space located above a single grid cell 106, but provides sufficient clearance to allow the handling device to traverse adjacent grid cells. The pedestal 102 can be fixed to one or more upright members of the framework structure 1. Alternatively or additionally, the pedestal 102 can be fastened to one or more of the horizontal members 5, 7 of the structure 1. The surface of the pedestal 102 may extend substantially over the entire grid cell 106 in which the pedestal is located above, reducing the risk of dropped items or products falling into the structure 1 and consequently disrupting the operation of the system. Alternatively, the surface of the pedestal 102 may extend only partially over its corresponding grid cell 106.

[0027] Referring further to Figures 8, 9A, and 9B, the robot manipulator 104 comprises a robot arm 108 and an end effector 111 connected to the robot arm 108 by an intermediate end effector connector 110. The end effector connector 110 and the end effector 111 together form an end effector assembly.

[0028] In one embodiment, the end effector connector 110 includes a suction assembly (indicated collectively as 112) having an integrated vacuum source. With the end effector 111, which includes a suction device 114, connected to the end effector connector 110, the integrated vacuum source is configured to generate a vacuum or suction pressure that can be used to releasably engage an object or item with the suction device 114. For example, the vacuum pressure generated by the integrated vacuum source of the end effector connector 110 can act on the suction device 114 to engage with an item when connected via the connector 110. In this example, the suction assembly 112 of the end effector connector 110 includes a connecting element, such as a threaded element, configured to engage with a corresponding connecting element on the end effector 111 to fluidly connect the suction assembly 112 and the suction device 114.

[0029] In some examples, as described below with reference to embodiments shown in Figures 8, 9A, 9B, 10A, and 10B, the integrated vacuum source comprises one or more venturi vacuum generators connectable to a pressure source (not shown) for providing a pressurized air supply. When the vacuum manifold is connected to the connector 110, one or more venturi vacuum generators may be fluidly connected to, for example, a suction device 114.

[0030] The end effector connector 110 with an integrated vacuum source reduces vacuum loss between the vacuum source and the suction device by reducing the effective length of the vacuum line between the vacuum source and the suction device, compared to other solutions. For example, in systems where the vacuum source is located away from the robot arm or mounted on the linkage mechanism of the robot arm, the distance between the vacuum source and the suction device increases, which means that more power is required in the suction device to generate an equivalent vacuum pressure (or suction force) due to a larger pressure drop. Furthermore, the integrated vacuum source of the end effector connector 110 makes it possible to remove and replace the entire end effector assembly in the event of a malfunction in the vacuum system. Thus, time is saved because it is no longer necessary to isolate the location of the problem (e.g., blockage) along the vacuum line in order to disconnect and replace the associated parts mounted on or away from the robot arm. In this system, the robotic arm can operate alongside a replacement end-effector assembly while inspecting and repairing a faulty end-effector assembly, thus reducing unexpected downtime and associated production losses compared to repairing the mounted vacuum source and / or vacuum line in-situ on the robotic arm.

[0031] In another embodiment, the end effector connector 110 includes an integrated filter assembly 123 for a vacuum source, i.e., a filter assembly 123 incorporated into the end effector connector 110. In this embodiment, the vacuum source may be located outside the end effector connector 110 and may be fluidly connected to the end effector connector 110 with the integrated filter assembly 123, for example. In other examples, the vacuum source is also integrated into the end effector connector 110, as in the embodiment described above.

[0032] In some examples, the integrated filter assembly 123 is positioned, for example, as an exhaust filter assembly, to filter the outlet or exhaust of a vacuum source. The integrated exhaust filter assembly 123 allows for the filtration of materials that the vacuum system may scatter as the robot arm 108 moves around the picking station, such as dust or particulate matter.

[0033] As an addition or alternative, the end effector connector 110 includes a filter assembly positioned to filter the inlet of the vacuum source. The integrated inlet filter assembly allows for filtering of substances drawn into the vacuum line that could damage the vacuum system. By placing the inline filter closer to the suction device, the length of the vacuum line that is prone to clogging by free substances in the environment drawn in by the suction device 114 is reduced. For example, in the context of a robotic picking station 100 for picking food products, the integrated inline filter can protect the upstream vacuum system from leaked liquids, semi-solids, colloids, gels, etc., that may be drawn into the vacuum line by the suction device 114 during picking operations. By integrating the inline filter within the end effector connector 110 so that it is located between the suction device 114 and the vacuum source, the vacuum source can be protected during use. Positioning the inline filter at the inlet of the end effector connector 110, for example where it connects to the suction end effector 111 during use, also narrows down potential blockages in the vacuum line, specifically within the suction end effector 111 itself rather than upstream conduits or tubes, which can accelerate the clearing of blockages.

[0034] In this example, the end effector connector 110 includes both filter assemblies: a first integrated filter assembly positioned to filter the exhaust from the vacuum source, and a second integrated filter assembly positioned to filter the inlet of the vacuum source. By integrating either or both of the filter assemblies within the end effector connector 110, it becomes unnecessary to mount the filter assemblies separately elsewhere in the vacuum system, for example, on the robot arm 108. Thus, a simpler robot picking station 100 structure can be achieved without the need to mount extra tubing, accessories, etc., on the robot arm 108.

[0035] A specific example of the end effector connector 110 shown in Figures 8, 9A, and 9B includes an integrated suction assembly 112 and a camera mount 122, both of which are mounted on a structural frame 120, which also forms part of the end effector connector 110. The camera mount 122 supports a pair of imagers 124 or cameras 126 for acquiring environmental visual information used to control the robotic manipulator 104. The suction assembly 112 is movably mounted on the structural frame 120 and is configured to generate vacuum or suction pressure used to releasably engage with an object or item during its operation. A fluid power circuit (not shown) supplies pressurized air directly to the suction assembly 112 to generate the vacuum pressure.

[0036] With the end effector 111 connected to the connector 110, the suction assembly 112 comprises a suction cup 114, a manifold 116, and an elongated shaft portion 118 connecting the suction cup 114 and the manifold 116. The shaft portion 118 and the suction cup 114 form the end effector 111 in this example. The manifold 116, along with an integrated filter assembly 123, includes a conduit bracket 117 for guiding the tubing of the fluid power circuit to a pair of connectors 119, 121. A hole 134 in the structural frame 120 provides a passage for the shaft portion 118 from the connection to the manifold 116 to the suction cup 114. Along with other components of the suction assembly 112, a linear bearing assembly 103 is provided, having a bearing surface extending through the hole 134, to facilitate the axial movement of the shaft portion 118 relative to the structural frame 120, and thus provides some compliance to the suction assembly 112 during picking or packing items. A coil spring 107 is positioned between the manifold 116 and the upper assembly 132 of the structural frame 120 to provide a biasing force that returns the suction assembly 112 to its lowest position following any upward displacement. A projection 147 (shown in Figure 10A) extending downward from the outer wall of the manifold 116 is configured to abut against the upper surface of the bearing assembly 103, thereby restricting the downward movement of the suction assembly 112 relative to the frame 120 to define its lowest position.

[0037] Referring to Figures 10A and 10B, the manifold 116 further comprises a chamber 139 and at least one vacuum generator 125. In this example, the vacuum generator 125 comprises two parallel venturi generators 127, 129 housed within the chamber 139. Each of the venturi generators 127, 129 includes venturi limiters 131, 133 and an array of holes 109 in its sidewall, providing fluid communication between the limiters 131, 133 and the chamber 139.

[0038] A first channel 135 formed within the manifold 116 provides a fluid connection between the first connector 119 and the venturi generators 127, 129, and is uniformly branched to minimize differences in pressure drop across the channel 135. The first channel 135 is configured to direct pressurized air supplied to the first connector 119 through the venturi generators 127, 129 to generate vacuum pressure within the venturi limiting sections 131, 133. A duct 137 guides the air exiting the venturi generators 127, 129 to an integrated filter assembly 123 located downstream of the vacuum generator 125, where the air is then exhausted from the manifold 116.

[0039] Chamber 139 comprises two openings 141, 143 that are in fluid communication with the venturi limiting sections 131, 133. The first opening 141 is one end of a passage 145 defined by a projection 147 extending downward from the outer wall of the manifold 116. The inner surface of the projection 147 and the outer surface of the upper end of the elongated shaft 118 are provided with corresponding threads that secure the shaft 118 to the projection 147 when connecting the end effector 111 to the connector 110. In this way, the passage 145 extends between the chamber 139 and the interior of the shaft 118, and thus allows the transmission of vacuum pressure from the venturi limiting sections 131, 133 to the suction cup 114.

[0040] The second opening 143 of the chamber 139 is connected to the second connector 121 by a second channel 105 formed within the manifold 116. This unique arrangement allows the second channel 105 to perform two functions or modes of operation. Firstly, it can be used to facilitate the measurement of the vacuum pressure within the chamber 139. This is important for verifying that the vacuum generator 125 is functioning as expected and achieving the required vacuum pressure within the chamber 139. This is useful not only for situations where there is an unexpected increase in pressure within the chamber 139, which may require immediate attention, but also for drawing attention to low-level errors, such as leaks in the connector 119, which do not justify immediate action but may increase over time if not corrected. Secondly, the second channel 105 may, as an alternative, be used to deliver pressurized air to the chamber 139 to provide positive pressure to the suction cup 114 to "blow away" items carried by the end effector 111, or to attempt to clear blockages within the manifold 116 or fluid power circuit.

[0041] Next, these operating modes will be described in detail with reference to Figures 11 and 12. The fluid power circuit 113 includes a reconfigurable valve assembly 149 that fluidly connects the manifold 116 to the pressure source 151 and the vacuum measuring unit 153 via appropriate tubing and connectors. In the first configuration, which represents the first operating mode shown in Figure 11, the valve assembly 149 directs pressurized air from the pressure source 151 to the first channel 135 of the manifold 116, from where the pressurized air is then directed through the vacuum generator 125, generating a vacuum pressure that propagates to the suction cup 114 as indicated by arrow 300, and then exits the manifold 116 through the integrated filter assembly 123 as indicated by arrow 302. In this configuration, the valve assembly 149 is also positioned to fluidly connect the second channel 105 of the manifold 116 to the vacuum measuring unit 153, while simultaneously isolating the second channel 105 from the pressure source 151 to monitor the vacuum pressure in the chamber 139.

[0042] In the second configuration representing the second operating mode shown in Figure 12, the valve assembly 149 is reconfigured to disconnect the second channel 105 from the vacuum measuring unit 153 and instead establish a fluid connection between the pressure source 151 and the second channel 105 so that the chamber 139 of the manifold 116 can be pressurized. In this configuration, the valve assembly 149 isolates the first channel 135 from the pressure source 151 and instead establishes a fluid connection between the channel 135 and the filter assembly 155 supported on the valve assembly 149. This allows the overpressure in the chamber 139 during this operating mode to be released through the first channel 135, along with the integrated filter assembly 123 and shaft 118, as indicated by arrows 302, 304, and 306.

[0043] Figure 13 shows an isometric view of the structural frame 120 connected to the male end 146 of the twistlock connection system. The structural frame 120 comprises a base section 128 and three elongated supports 130 that connect the base segment 128 to the upper assembly 132. The base section 128 includes a hole 134 located near its center that provides a passage for the shaft 118 from the connection to the manifold 116, and a number of fastening points 136 for the camera mount 122 and the bearing assembly 103.

[0044] Referring to Figures 14A and 14B, the upper assembly 132 of the structural frame 120 comprises a lower segment 138 and an upper segment 140, fastened together by a number of fasteners 142. The base section 128, the elongated column 130, and the lower segment 138 define a unibody frame. The lower segment 138 and the upper segment 140 jointly define a female end 144 of a twistlock connection system, the corresponding male end 146 of which is fastened to a flange (not shown) on the end portion of the robot arm 108. The lower segment 138 comprises a central circular hollow section 148 bordered by a concentric interface 150 with arc-shaped slots 152 cut into it. The upper segment 140 defines a flange 154 having three protrusions 156, which extend radially inward from their upper inner edge and protrude over at least a portion of the interface 150, but do not cover the arched slot 152. The upper segment 140 further includes a radially aligned pin 158 supported within a bore 160 in the side of the flange 154, together with a coil spring 162 (shown in Figure 15A). The spring 162 is housed within the bore 160 and is configured to bias the radial pin 158 inward.

[0045] The male end 146 comprises a substantially disc-shaped structure 164 including a centrally open bore 166, in addition to a plurality of fasteners 163 for securing it to the robot arm 108 and a plurality of notches 165 for reducing its weight. The bore 166 is partially defined by walls 168, 170 that project over the upper surface 172 and lower surface 174 of the structure 164. The wall 170 extending over the lower surface 174 is configured to fit into a circular hollow portion 148 formed in the lower segment 138 to help position the male end 146 correctly relative to the female end 144 of the twistlock connection system. The wall 168 projecting over the upper surface 172 of the structure 164 performs a similar function relative to a hollow portion formed in a flange that is instead fastened to the end of the robot arm 108.

[0046] Structure 164 further comprises three projections 176 projecting radially outward from its lower outer edge, each projection 176 configured to contact a corresponding overhang 156 of flange 154 to hold both the female end 144 and the male end 146. One of the projections 176 comprises a notch 178 configured to receive a radial pin 158 when the female end 144 and the male end 146 are properly connected, providing a rotational lock between the female end 144 and the male end 146. To ensure that the radial pin 158 and the appropriate projection 176 are integrated when the end effector connector 110 is connected to the robot arm 108, the male end 146 further comprises an axially aligned pin 180 configured to extend into a curved slot 152 when the female end 144 and the male end 146 are properly connected. The positions of the axial pin 180 and the arc-shaped slot 152 are such that the lower surface 174 of the structure 164 is coplanar with the interface surface 150 of the lower segment 138 only when the radial pin 158 is interacting with the appropriate projection 176. In all other cases, the axial pin 180 is positioned on the interface surface 150, preventing proper mating between the female end 144 and the male end 146. The male end 146 also includes an axially aligned pin 182 that protrudes from the upper surface 172 of the structure 164. This pin 182 is used to ensure that the male end 146 is correctly positioned relative to the flange fastened to the end of the robot arm 108.

[0047] Referring to Figures 15A and 15B, in order to secure the end effector connector 110 to the robot arm 108, it is simply a matter of bringing the female end 144 of the twistlock connection system into contact with the male end 146 so that the pin 180 of the male end 146 is received within one end of the curved slot 152 of the interface surface 150. When properly received, the projection 176 of the male end 146 is positioned between the protrusions 156 of the female end 144. From this position, the end effector connector 110 is rotated counterclockwise, as indicated by arrow 400, moving each of the protrusions 156 above their respective projections 176. During this movement, the radial pin 158, biased by the spring 162, moves along the surrounding surface of its corresponding projection 176, and once received within the notch 178, prevents further rotation of the end effector connector 110 and locks it into place relative to the robot arm 108. To remove the end effector connector 110, one simply pulls the radial pin 158 out of the notch 178 against the biasing force of the spring 162 and rotates the connector 110 clockwise until the projection 176 separates from the overhang 156. At this point, the connector 110 can be pulled away from the robot arm 108.

[0048] In the illustrated example, the male end 146 of the twistlock connection system is securely fixed to the robot arm 108, and the female end 144 is formed from the upper assembly 132 of the structural frame 120. Other embodiments are envisioned in which the female end 144 of the twistlock connection system is fixed to the robot arm 108, and the upper assembly 132 of the structural frame 120 defines the male end 146. However, both variations offer the benefit of a simple and convenient procedure for connecting and disconnecting the robot arm 108 to the end effector connector 110 with the end effector 111 as an end effector assembly, for example, without the use of additional or specialized tools. This arrangement is beneficial regardless of the position of the robot arm 108, but is particularly advantageous when the robot arm 108 is located in a location that is not easily accessible, such as on a framework structure 1, where performing maintenance work may be cumbersome. Furthermore, because the suction assembly 112 is integrated with the end effector connector 110, any malfunction of the suction assembly 112 does not need to be repaired on the spot. Instead, the faulty connector 119 can be replaced with a new one simply by disconnecting the tube and reconnecting it to connectors 110 and 121, thus further improving the convenience of this arrangement.

[0049] This disclosure describes examples of how the present invention may be carried out, and it will be understood by those skilled in the art that various methods can be employed without departing from the scope of the invention as defined by the appended claims.

[0050] The above examples should be understood as illustrative examples only. Further examples are conceivable. For example, the specific example of the end effector connector 110 shown in Figures 8, 9A, and 9B includes a camera mount 122, which may not be present in other examples.

[0051] Furthermore, in the specific example of the end effector connector 110 shown in these figures, the vacuum generator 125 comprises two parallel venturi generators 127, 129, but in other examples, there may be a single venturi generator or more than two venturi generators. For example, generally, there may be one or more vacuum generators 125 integrated within the end effector connector 110.

[0052] Furthermore, the second channel 105 within the chamber 139 of the vacuum manifold 116, including the corresponding opening 143 and connector 121, may be omitted in alternative examples of those shown in these figures. For example, the end effector connector 110 according to some of the described embodiments can be implemented without these structural features and their associated functions, namely, measurement of vacuum pressure within the chamber 139 and provision of "blow-off" positive pressure. In such a simplified embodiment, the vacuum manifold 116 has a single connector 119 for connecting to a pressurized air source, the pressurized air supplied thereby directed to a vacuum generator 125 via the first channel 135.

[0053] Furthermore, examples of structural arrangements of the end effector connector 110 different from those shown in Figures 8 to 12 are conceivable. For example, as shown, there may be no protrusion 147 at the connection point for connecting the end effector 111. Similarly, the associated passage 145 extending between the vacuum manifold 116 and the end effector 111 may, when connected, be displaced to one side rather than directly below the manifold 116, and positioned within the connector 110, unlike in the illustrated example.

[0054] Furthermore, it should be understood that any feature described in relation to any one example may be used alone or in combination with other features described, for example, in combination with one or more features of any other example, or in any combination of examples.

[0055] Various examples can be implemented in accordance with the following clauses.

[0056] 1. Robot arm and An end effector equipped with a suction device that engages with an item in a releasable manner when in use using vacuum pressure generated by a vacuum source, An end effector connector positioned to connect, The end effector connector comprises an integrated filter assembly for the vacuum source.

[0057] 2. The integrated filter assembly is arranged to filter the exhaust of the vacuum source, as described in Clause 1, for the end effector connector.

[0058] 3. The end effector connector according to Clause 1 or 2, wherein the integrated filter assembly is a first integrated filter assembly, and the end effector comprises a second integrated filter assembly positioned to filter the inlet of the vacuum source.

[0059] 4. The integrated filter assembly is positioned to filter the inlet of the vacuum source, as described in Clause 1, with respect to the end effector connector.

[0060] 5. The end effector connector according to any one of clauses 1 to 4, wherein the end effector connector is provided with a passage for fluid connection between the vacuum source and the suction device when the end effector is connected to the end effector connector during use.

[0061] 6. The filter assembly is fluidly connected to the passage by an exhaust duct, as described in Clause 5, with respect to the end effector connector.

[0062] 7. The end effector connector according to Clause 5 or 6, wherein the filter assembly is positioned between the suction device and the passage when the end effector is connected to the end effector connector during use.

[0063] 8. The end effector connector according to any one of clauses 1 to 7, wherein the end effector connector comprises the vacuum source as an integrated component.

[0064] 9. The vacuum source comprises a venturi vacuum generator, as described in Clause 8, for the end effector connector.

[0065] 10. The integrated filter assembly is located downstream of the venturi vacuum generator, as per the end effector connector described in Clause 9.

[0066] 11. The end effector connector according to Clause 9 or 10, wherein the vacuum source comprises a vacuum manifold for fluidly connecting the venturi vacuum generator to the suction device.

[0067] 12. The end effector connector according to Clause 11, wherein the vacuum manifold comprises a chamber, and the venturi vacuum generator is housed within the chamber.

[0068] 13. The integrated filter assembly is fluidly connected to the chamber for filtering the exhaust of the venturi vacuum generator, as described in Clause 12.

[0069] 14. An end effector connector according to any one of clauses 1 to 13, further comprising a frame to which the suction assembly is attached.

[0070] 15. The end effector connector according to Clause 14, wherein the frame comprises one of a male or female end of a twistlock connection system connected to the frame, and the one of the male or female end is configured to form a connection with the other of the male or female end of the twistlock connection system connected to the robot arm for securing the end effector to the robot arm.

[0071] 16. The twist-lock connection system comprises locking means for rotationally locking the male end and the female end, as described in Clause 15.

[0072] 17. An end effector connector according to any one of clauses 14 to 16, further comprising a bearing assembly configured to movably mount the suction assembly to the frame.

[0073] 18. The end effector connector according to Clause 17, further comprising a biasing means for biasing the suction assembly to its lowest position relative to the frame.

[0074] 19. End effector connector as described in any one of Clauses 1 to 18, An end effector assembly comprising an end effector having a suction device fluidly connected to the end effector connector.

[0075] 20. A robotic manipulator comprising the end effector assembly described in Clause 19.

[0076] 21. A robotic picking station equipped with a robotic manipulator as described in Clause 20.

[0077] 22. A grid-based storage and retrieval system comprising the picking stations described in Clause 21.

Claims

1. An end effector connector arranged to connect a robotic arm and an end effector having a suction device that engages with an item in a releasable manner when in use by vacuum pressure generated by a vacuum source, The end effector connector comprises an integrated filter assembly for the vacuum source.

2. The end effector connector according to claim 1, wherein the integrated filter assembly is arranged to filter the exhaust of the vacuum source.

3. The end effector connector according to claim 1 or 2, wherein the integrated filter assembly is a first integrated filter assembly, and the end effector comprises a second integrated filter assembly arranged to filter the inlet of the vacuum source.

4. The end effector connector according to claim 1, wherein the integrated filter assembly is arranged to filter the inlet of the vacuum source.

5. The end effector connector according to any one of claims 1 to 4, wherein the end effector connector is provided with a passage for fluid connection between the vacuum source and the suction device when the end effector is connected to the end effector connector during use.

6. The end effector connector according to claim 5, wherein the integrated filter assembly is fluidly connected to the passage by an exhaust duct.

7. The end effector connector according to claim 5 or 6, wherein the integrated filter assembly is positioned between the suction device and the passage when the end effector is connected to the end effector connector during use.

8. The end effector connector according to any one of claims 1 to 7, wherein the end effector connector comprises the vacuum source as an integrated component.

9. The end effector connector according to claim 8, wherein the vacuum source comprises a venturi vacuum generator.

10. The end effector connector according to claim 9, wherein the integrated filter assembly is located downstream of the venturi vacuum generator.

11. The end effector connector according to claim 9 or 10, wherein the vacuum source comprises a vacuum manifold for fluidly connecting the venturi vacuum generator to the suction device.

12. The end effector connector according to claim 11, wherein the vacuum manifold comprises a chamber, and the venturi vacuum generator is housed within the chamber.

13. The end effector connector according to claim 12, wherein the integrated filter assembly is fluidly connected to the chamber to filter the exhaust of the venturi vacuum generator.

14. The end effector connector according to any one of claims 1 to 13, further comprising a frame to which a suction assembly is attached.

15. The end effector connector according to claim 14, wherein the frame comprises one of a male or female end of a twistlock connection system connected to the frame, and the one of the male or female end is configured to form a connection with the other of the male or female end of the twistlock connection system connected to the robot arm for fixing the end effector to the robot arm.

16. The end effector connector according to claim 15, wherein the twist-lock connection system comprises locking means for rotating and locking the male end and the female end.

17. The end effector connector according to any one of claims 14 to 16, further comprising a bearing assembly configured to movably mount the suction assembly to the frame.

18. The end effector connector according to claim 17, further comprising a biasing means for biasing the suction assembly to the lowest position relative to the frame.

19. An end effector connector according to any one of claims 1 to 18, An end effector equipped with a suction device fluidly connected to the end effector connector, An end effector assembly equipped with [a specific feature].

20. A robotic manipulator comprising the end effector assembly described in claim 19.

21. A robot picking station comprising the robot manipulator described in claim 20.

22. A grid-based storage and retrieval system comprising the picking station described in claim 21.

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