DE102020122701A1 - ROBOT SYSTEM WITH GRIPPING MECHANISM - Google Patents

Abstract

The present invention relates to a robot system. The robot system includes an end effector configured to grip an object, a sensor unit that monitors contact information received from a contact limit sensor, and a controller that is coupled to the sensor unit. The end effector has a suction cup assembly for engaging the object and the contact limit sensor for sensing a pressure associated with the engagement between the suction cup assembly and the object, the contact limit sensor transmitting contact information when the contact limit sensor detects that the pressure exceeds a contact threshold. The control device performs an operation for controlling the end effector to limit the movement of the end effector toward the object on the basis of the received contact information to prevent damage to the object.

Description

TECHNICAL AREA

The present invention relates generally to robotic systems and, more particularly, to systems having a gripping mechanism.

BACKGROUND

With their ever increasing performance and falling costs, many robots (e.g. machines that are configured to automatically / autonomously perform physical actions) are used extensively in many areas today. Robots can be used, for example, to carry out various tasks (e.g. manipulation or transfer of an object through space) in production and / or assembly, during packing and / or packaging, transport and / or shipping, etc. In performing the tasks, the robots can mimic human actions, thereby replacing or reducing human intervention that is otherwise required to perform dangerous or repetitive tasks.

However, despite advances in technology, robots often lack the sophistication to duplicate human interactions required to perform larger and / or more complex tasks. For example, related prior art systems are unable to detect whether the force applied by a gripper or manipulator in connection with safely gripping and / or picking up an object is approaching or exceeding threshold values without damaging the object. In such a situation, a robot can damage the delicate objects without realizing that the gripper force has exceeded the safety limits. Accordingly, there continues to be a need for improved techniques and systems for the management of operations and / or interactions between robots and objects to be processed.

SUMMARY

Aspects of the present invention can include a robotic system. The robot system may include an end effector configured to grasp an object, a sensor unit that monitors contact information received from a contact limit sensor, and a controller coupled to the sensor unit. The end effector may include a suction cup assembly configured to engage the object and a contact limit sensor configured to sense a pressure associated with engagement between the suction cup assembly and the object, the contact limit sensor transmitting contact information when the contact limit sensor detects that the pressure exceeds a contact threshold. The controller may be configured to perform an end effector control operation to limit the movement of the end effector toward the object based on the received contact information to prevent damage to the object.

Further aspects of the present invention may include an object handling unit including a robotic arm and an end effector configured to grip an object. The end effector may include a suction cup assembly configured to engage the object and a contact limit sensor configured to sense a pressure associated with engagement between the suction cup assembly and the object, the contact limit sensor transmitting contact information when the contact limit sensor detects that the pressure exceeds a contact threshold, and wherein the transmitted contact information causes the movement of the end effector towards the object to be limited in order to prevent damage to the object.

Further aspects of the present invention may include a gripper attachment for an object handling system having an end effector configured to grasp an object. The end effector may include a suction cup assembly configured to grip the object and a contact limit sensor. The suction cup assembly may include a housing, a first suction cup configured to be coupled to a vacuum pressure source, the first suction cup being slidable relative to the housing, and a second suction cup coupled to a vacuum pressure source, the second suction cup is displaceable relative to the housing and independently of the first suction cup. The contact limit sensor is configured to detect a pressure associated with the engagement between the suction cup assembly and the object based on the displacement of the first suction cup and the second suction cup relative to the housing, the contact limit sensor transmitting contact information when the contact limit sensor detects that the Pressure exceeds a contact threshold, and wherein the transmitted contact information has the effect that the movement of the end effector in the direction of the object is limited in order to prevent damage to the object.

Certain embodiments of the invention have other steps or elements in addition to or in lieu of those mentioned above. the Steps or elements will become apparent to those skilled in the art from reading the following detailed description when taken with reference to the accompanying drawings.

Figure list

• 1 eine Darstellung einer Beispielumgebung ist, in der ein Robotersystem gemäß beispielhaften Ausführungsformen der vorliegenden Erfindung eingesetzt wird;
• 2 ist ein Blockdiagramm ist, das das Robotersystem gemäß beispielhaften Ausführungsformen der vorliegenden Erfindung veranschaulicht;
• 3A und 3B einen Roboterarm gemäß beispielhaften Implementierungen der vorliegenden Erfindung zeigen;
• 4A-4E verschiedene Ansichten des Endeffektors des Roboterarms gemäß beispielhaften Implementierungen der vorliegenden Erfindung veranschaulichen;
• 5 eine Schnittansicht des Endeffektors von 4A entlang der Linie V-V' zeigt;
• 6A-6F perspektivische Ansichten eines Endeffektors gemäß beispielhaften Implementierungen der vorliegenden Erfindung sind;
• 7 eine perspektivische Ansicht eines Roboterarms gemäß beispielhaften Implementierungen der vorliegenden Erfindung zeigt.

The exemplary embodiment (s) of the present invention is (are) described in detail with reference to the following figures, wherein

• 1 Figure 3 is an illustration of an example environment in which a robotic system is deployed in accordance with example embodiments of the present invention;
• 2 Figure 3 is a block diagram illustrating the robotic system in accordance with exemplary embodiments of the present invention;
• 3A and 3B show a robotic arm in accordance with exemplary implementations of the present invention;
• 4A-4E illustrate various views of the end effector of the robotic arm in accordance with exemplary implementations of the present invention;
• 5 a sectional view of the end effector of FIG 4A along the line VV ';
• 6A-6F 3 are perspective views of an end effector in accordance with exemplary implementations of the present invention;
• 7th Figure 13 shows a perspective view of a robotic arm in accordance with exemplary implementations of the present invention.

DETAILED DESCRIPTION

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the currently disclosed technology. In other embodiments, the techniques presented here can be carried out without these specific details. In other instances, well-known features, such as specific functions or routines, are not described in detail in order not to unnecessarily obscure the present disclosure. References in this specification to “one embodiment” or the like mean that a particular feature, structure, material, or characteristic described is included in at least one embodiment of the present disclosure. Therefore, the appearances of all such terms in this specification are not necessarily all referring to the same embodiment. On the other hand, however, such references are not necessarily mutually exclusive. In addition, the particular features, structures, materials or properties in one or more embodiments can be combined in any suitable manner.

It should be understood that the various embodiments shown in the figures are merely illustrative representations. Furthermore, the drawings showing embodiments of the system are semi-schematic and not to scale and, in particular, some of the dimensions are for clarity of illustration and are exaggerated in the drawing figures. While the views in the drawings have generally similar orientations for ease of description, the representation in the figures is for the most part arbitrary. In general, the invention can be operated in any orientation.

Some details that describe structures or processes that are known and often associated with robotic systems and subsystems, but which may unnecessarily obscure some important aspects of the disclosed techniques, are not set forth in the following description for the sake of clarity. In addition, while the following disclosure sets forth several embodiments of various aspects of the current technology, several other embodiments may have different configurations or different components than those described herein. Accordingly, the disclosed techniques may have other embodiments with additional elements or without more of the elements described below.

Many embodiments or aspects of the present invention described below may take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the art will appreciate that the disclosed techniques may be practiced on computer or controller systems other than those shown and described below. The techniques described herein can be employed in a special purpose computer or data processor that is specially programmed, configured, or constructed to carry out one or more of the computer-executable instructions described below. Accordingly, the terms “computer” and “controller” as used generically herein refer to any data processor and may include Internet devices and portable devices, including palmtop computers, portable computers, cell phones, multiprocessor systems, processor-based or programmable Consumer electronics, network computers, mini computers, and the like. Information processed by these computers and controllers can be presented on any suitable display medium, including a liquid crystal display (LCD). Instructions for performing computer or controller executable tasks can be stored in or on any suitable computer readable medium, including hardware, firmware, or a combination of hardware and firmware. Instructions can be contained in any suitable storage device, including, for example, a flash drive, USB device, and / or other suitable medium.

The terms “coupled” and “connected” along with their modifications can be used here to describe structural relationships between components. It should be understood that these terms are not intended to be synonymous with one another. Rather, in particular embodiments, “connected” can be used to indicate that two or more elements are in direct contact with one another. Unless the context indicates otherwise, the term “coupled” may be used to indicate that two or more elements are in either direct or indirect (with other intervening elements) contact with one another, or that the two or more elements are cooperating or interact (e.g. as in a cause-and-effect relationship, as for signal transmission / reception or for function calls), or both.

The following embodiments are described in sufficient detail to enable those skilled in the art to make and use the invention. It is to be assumed that other embodiments would be obvious based on the present disclosure and that system, method, or mechanical changes can be made without departing from the scope of protection of an embodiment of the present invention.

With reference to 1 an example environment is shown there in which a robot system 100 can work with a mechanism for handling objects. The operating environment for the robot system 100 may include one or more structures, such as robots or robotic devices, configured to perform one or more tasks. Aspects of the object handling mechanisms presented here can be exercised or implemented through the various structures.

In the in 1 example shown can be the robot system 100 a discharge unit 102 , a transfer unit 104 , a transport unit 106 , a loading unit 108 or a combination thereof in a warehouse, distribution center, or shipping center. Any of the units in the robot system 100 can be configured to perform one or more tasks. The tasks can be combined in sequence to perform an operation that achieves a goal, such as unloading objects from a vehicle such as a truck, trailer, van or railroad car for storage in a warehouse, or unloading objects from storage locations and their loading onto a vehicle for dispatch. In another example, the task may include moving objects from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. Each of the units can be configured to perform a sequence of actions, such as operating one or more components therein to perform a task.

In some embodiments, the task can involve interacting with a target object 112 include, such as manipulation, movement, realignment, or a combination thereof, of the object. The target object 112 is the object that is used by the robot system 100 should be handled. More specifically, the target object can 112 be the specific object among many objects that is the target of an operation or task of the robotic system 100 is. For example, the target object can 112 be the object for which the robotic system 100 selected the object or that is being handled, manipulated, moved, realigned, or a combination thereof. The target object 112 can be, for example, boxes, boxes, tubes, packages, bundles, an assortment of individual items or any other object that the robot system 100 can be handled.

As an example, the task can be the transfer of the target object 112 from an object source 114 to a place of work 116 include. The object source 114 is a container for storing objects. The object source 114 can have numerous configurations and shapes. For example, the object source 114 be a platform, with or without walls, on which objects can be placed or stacked, such as a pallet, shelf, or conveyor belt. As another example, the object source 114 be a partially or fully closed container with walls or lids in which objects can be placed, such as a box, cage or basket. In some embodiments, the walls of the object source 114 that can be partially or completely enclosed, transparent or have openings or gaps of various sizes, so that parts of the objects contained therein can be visible or partially visible through the walls.

1 illustrates examples of the possible functions and operations performed by the various units of the robot system 100 in handling the target object 112 It is assumed that the environment and conditions may differ from those described below. For example, the discharge unit 102 be a vehicle unloading robot configured to target the target object 112 transported from a location in a carrier, such as a truck, to a location on a conveyor belt. Also the transfer unit 104 , such as a palletizing robot, can be configured to target the object 112 from a location on the conveyor belt to a location on the transport unit 106 transferred, e.g. to load the target object 112 on a pallet on the transport unit 106 . In another example, the transfer unit 104 be a general cargo picking robot that can be configured to pick the target object 112 transferred from one container to another container. When the process is complete, the transport unit 106 the target object 112 from an area that is the transfer unit 104 is assigned to an area belonging to the loading unit 108 is assigned, transfer, and the loading unit 108 can be the target object 112 , e.g. by moving the palette with the target object 112 , from the transfer unit 104 to a storage location, e.g. a place on the shelves. Details of the task and the associated actions are described below.

To illustrate, the robotic system 100 described in the context of a shipping center; however, it is assumed that the robotic system 100 Can be configured to perform tasks in different environments or for other purposes, e.g. B. for manufacturing, assembly, packaging, healthcare or other types of automation. It is also assumed that the robotic system 100 may include other units such as manipulators, service robots or modular robots that are not in 1 are shown. For example, the robotic system can 100 In some embodiments, a depalletizing unit for transferring the objects from cages, trolleys or pallets to conveyors or other pallets, a container changing unit for transferring the objects from one container to another, a packaging unit for wrapping the objects, a sorting unit for grouping the objects according to or several features thereof, a piece goods picking unit for differently manipulating the objects, such as sorting, grouping and / or transferring, according to one or more features thereof or a combination thereof.

With reference to 2 therein is shown a block diagram illustrating the robotic system 100 illustrated in accordance with one or more embodiments of the present invention. In some embodiments, the robotic system can 100 for example electronic devices, electrical devices or a combination thereof, such as a control unit 202 , a storage unit 204 , a communication unit 206 , a system interface 208 , one or more actuators 212 , one or more transport motors 214 , one or more sensor units 216 or a combination thereof, which are coupled together, in one or more of the in 1 units or robots described above are integrated or coupled therewith, or a combination thereof.

The control unit 202 can be implemented in several ways. For example, the control unit 202 be a processor, an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a finite state machine, a digital signal processor (DSP), or a combination thereof. The control unit 202 can the software 210 run to the intelligence of the robotic system 100 provide.

The control unit 202 can be a control interface 240 contain. The control interface 240 can be used for communication between the control unit 202 and other functional units in the robot system 100 be used. The control interface 240 can also be used for communication outside the robot system 100 be used. The control interface 240 can receive information from the other functional units or from external sources or send information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations outside the robot system 100 .

The control interface 240 can be implemented in different ways and can contain different implementations depending on which functional units or external units are connected to the control interface 240 are connected. For example, the control interface 240 be implemented with a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), an optical circuit, waveguides, a wireless circuit, a wired circuit, an application programming interface, or a combination thereof.

The storage unit 204 can the software 210 , Base data 246 or save a combination of these. To illustrate, the storage unit 204 represented as a single element, although the Storage unit 204 can be a division of storage elements. The robot system is also used for illustration purposes 100 with the storage unit 204 depicted as a storage system with a single hierarchy, although it is assumed that the robotic system 100 the storage unit 204 in a different configuration. For example, the storage unit 204 be formed with different storage technologies that form a storage hierarchy system with different levels of caching, main storage, rotating media or offline storage.

The storage unit 204 can be volatile memory, non-volatile memory, internal memory, external memory, or a combination thereof. For example, the storage unit 204 non-volatile memory such as non-volatile memory (NVRAM), flash memory, disk storage, or volatile memory such as static random access memory (SRAM). As a further example, the storage unit 204 non-volatile computing media, including non-volatile memory, such as a hard disk drive, NVRAM, solid-state storage device (SSD), compact disk (CD), digital video disk (DVD), or USB flash memory device. The software 210 can be stored on the non-transitory computer readable medium for use by a control unit 202 to be executed.

The storage unit 204 can be a control interface 240 contain. The control interface 240 can be used for communication between the storage unit 204 and other functional units in the robot system 100 be used. The control interface 240 can also be used for communication outside the robot system 100 be used. The control interface 240 can receive information from the other functional units or from external sources or send information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations outside the robot system 100 .

The control interface 240 may contain different implementations, depending on which functional units or external units are connected to the storage unit 204 are connected. The control interface 240 can be implemented using technologies and techniques that support the implementation of the control interface 240 are similar.

In one embodiment, the storage unit 204 can be used to further store processing results, specified data, threshold values or a combination thereof and to enable access to them. For example, the storage unit 204 the master data 246 save the descriptions of the one or more target objects 104 contain, e.g. boxes, box types, boxes, box types, products, or a combination thereof. In one embodiment, the master data 246 a dimension, a shape, for example templates for possible positions or computer-generated models for recognizing the one or more target objects 104 in different positions, a color scheme, an image, identification information, e.g. barcodes, quick response (QR) codes, logos, expected locations, an expected weight or a combination thereof for the one or more target objects 104 that are expected to be received by the robotic system 100 be manipulated.

In one embodiment, the master data 246 furthermore contain manipulation-related information relating to the one or more objects that are received by the robot system 100 can be encountered or handled. For example, the manipulation-related information for the objects may include a center of mass on each of the objects, expected sensor measurements, e.g. B. for force, torque, pressure or contact measurements that correspond to one or more actions, maneuvers or a combination thereof.

The communication unit 206 can facilitate external communication to and from the robot system 100 enable. For example, the communication unit 206 the robotic system 100 enable it to communicate with other robotic systems or units, external devices such as an external computer, an external database, an external machine, an external peripheral device, or a combination thereof, via a communication path 218 such as a wired or wireless network.

The communication path 218 can encompass and represent a variety of networks and network topologies. For example, the communication path 218 wireless communication, wireline communication, optical communication, ultrasonic communication, or a combination thereof. For example, satellite communications, cellular communications, Bluetooth, the Infrared Data Association (IrDA) standard, Wireless Fidelity (WiFi), and Worldwide Interoperability for Microwave Access (WiMAX) are examples of wireless communications that are in the communication path 218 can be included. Cable, Ethernet, Digital Subscriber Line (DSL), fiber optic lines, Fiber to the Home (FTTH) and the simple old telephone service (POTS) are examples of wired communication that is in the communication path 218 can be included. In addition, the communication path 218 bridge a range of network topologies and distances. For example, the communication path 218 a direct link, a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or a combination thereof. The robot system 100 can provide information between the different units via the communication path 218 transfer. For example, the information can be shared between the control unit 202 , the storage unit 204 , the communication unit 206 , the system interface 208 , the controls 212 , the transport motors 214 , the sensor units 216 or a combination thereof.

The communication unit 206 can also act as a communication center that allows the robot system 100 enables, as part of the communication path 218 to function, and not be limited to, an endpoint or terminal of the communication path 218 to be. The communication unit 206 can have active and passive components, such as microelectronics or an antenna, to interact with the communication path 218 contain.

The communication unit 206 can be a communication interface 248 contain. The communication interface 248 can be used for communication between the communication unit 206 and other functional units in the robot system 100 be used. The communication interface 248 can receive information from the other functional units or from external sources or send information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations outside the robot system 100 .

The communication interface 248 may contain different implementations, depending on which functional units are connected to the communication unit 206 get connected. The communication interface 248 can be implemented using technologies and techniques that support the implementation of the control interface 240 are similar.

The I / O device 208 may include an input device and an output device. Examples of the input device of the I / O device 208 can be a keypad, a touchpad, softkeys, a keyboard, a microphone, sensors for receiving remote signals, a camera for receiving movement commands, or any combination thereof for providing data. and be communication inputs. Examples of the output device can be a display interface 211 be. At the display interface 211 it can be any graphical user interface such as a display, projector, video screen, or any combination thereof.

The control unit 202 can address the I / O device 208 to be used by the robot system 100 present or receive generated information. The control unit 202 can the user interface 216 appeal to from the robotic system 100 present generated information. The control unit 202 can also use the software 210 for the other functions of the robot system 100 carry out. The control unit 202 can also use the software 210 for interacting with the communication path 218 via the communication unit 206 carry out.

The robot system 100 may include physical or structural elements such as robotic manipulator arms connected at joints for movement such as rotational displacement, translational displacement, or a combination thereof. The structural elements and the joints can form a kinetic chain configured to manipulate an end effector, such as a gripper, to perform one or more tasks, such as gripping, rotating, or welding, depending on the use or operation of the robot system 100 . The robot system 100 can the actuators 212 , such as motors, actuators, wires, artificial muscles, electroactive polymers, or a combination thereof, configured to drive, manipulate, move, realign, or a combination thereof, the structural members around or on a corresponding joint. In some embodiments, the robotic system can 100 the transport motors 214 that are configured to move the appropriate units from place to place.

The robot system 100 can the sensor units 216 which are configured to receive information that is used to carry out tasks and operations, for example to manipulate the structural elements or to transport the robot units. The sensor units 216 may include devices configured to address one or more physical properties of the robot system 100 detect or measure, such as a state, a condition, the position of one or more structural parts or joints, information about objects or the environment or a combination thereof. As an example, the sensor units 216 Imaging devices 222 , System sensors 224 , Contact sensors 226 or a combination thereof.

In some embodiments, the sensor units 216 one or more imaging devices 222 contain. the Imaging devices 222 are devices that are configured to recognize the environment. For example, the imaging devices 222 two-dimensional cameras, three-dimensional cameras, both of which may contain a combination of visual and infrared capabilities, LIDARS, RADARS, other range finders, and other imaging devices. The imaging devices 222 can generate a representation of the recognized environment, such as a digital image or a point cloud, which is used to implement machine / computer vision for automatic inspection, robot guidance or other robot applications. As described in detail below, the robot system 100 the digital image, the point cloud or a combination thereof via the control unit 202 process to the target object 112 the end 1 , a position of the target object 112 or identify a combination thereof. To manipulate the target object 112 can the robot system 100 capture and analyze an image of a specific area, such as inside the truck, inside the container or a pick-up location for objects on the conveyor belt, around the target object 112 and the object source 114 the end 1 identify from it. Similarly, the robotic system 100 Capture and analyze an image of another designated area, such as a place to place objects on the conveyor belt, a place to place objects inside the container, or a place on the pallet for stacking purposes around the job location 116 the end 1 to identify.

In some embodiments, the sensor units 216 the system sensors 224 contain. The system sensors 224 are devices for monitoring the robot units. For example, the system sensors 224 Units or devices for detecting and monitoring the positions of structural elements, such as the robot arms and the end effectors, the corresponding joints of the robot units or a combination thereof, contain. As another example, the robotic system 100 the system sensors 224 Use to track the positions, orientations, or a combination thereof of structural members and joints as the task is performed. Examples of the system sensors 224 can be accelerometers, gyroscopes, or position measuring devices.

In some embodiments, the sensor units 216 the contact sensors 226 such as pressure sensors, force sensors, strain gauges, piezoresistive / piezoelectric sensors, capacitive sensors, elastoresistive sensors, torque sensors, linear force sensors or other tactile sensors that are configured to measure a property that involves direct contact between multiple physical structures or surfaces connected. For example, the contact sensors 226 measure the characteristics associated with a grip of the end effector on the target object 112 or the weight of the target object 112 measure up. Accordingly, the contact sensors 226 output a contact measure which represents a quantified measure, for example a measured force or a measured torque, which corresponds to a degree of contact or attachment between the gripper and the target object 112 is equivalent to. For example, the amount of contact can include one or more force or torque measurements that are applied by the end effector to the target object 112 correspond to the forces exerted.

3A and 3B show a robotic arm 330 with a gripper attachment 328 including an end effector 332 according to example implementations of the present invention. In the example implementations, the robotic arm 330 be configured to manipulate objects, e.g. B. picks up objects from a container or objects at a target, e.g. B. a conveyor belt or other container placed. The robot system 100 the 1 and 2 can use the robotic arm 330 with the gripper attachment 328 who have favourited the end effector 332 has, have. The end effector 332 is the part of the robot arm 330 containing components configured to touch, manipulate, hold, or grasp objects, or any combination thereof. The part of the end effector 332 that touches the object can be called a gripper head.

The gripper attachment 328 includes an offset bracket 338 who have favourited the grapple attachment 328 with the robotic arm 330 connects. The offset bracket 338 can be a mechanical connection between the gripper attachment 328 and the robotic arm 330 produce. In some example implementations, the offset bracket 338 also provide an electrical coupling in order to exchange electrical signals between the robot arm 330 and the gripper attachment 328 to enable. For example, the electrical signals between the robot arm 330 and sensors and other components attached to the gripper attachment 328 are to be exchanged.

The robotic arm 330 can rotate and the offset bracket 338 using one or more actuating devices, such as the one in 2 actuator shown 212 , actuate. The actuator 212 may enable rotary actuation, torsional actuation, linear actuation, or any other type of actuation that would be apparent to one skilled in the art.

The offset bracket 338 can with an offset plate 334 be connected that have a lateral offset between the robot arm 330 and the end effector 332 enables. In other words, the offset plate 334 ensures a lateral offset between the axis 3 of the robot arm 330 and the axis 4th des on the offset plate 334 mounted end effector 332 . The offset plate 334 may be formed from a material selected to be the end effector 332 structurally supported. In some example implementations, the offset plate 334 be formed from a metal such as a steel alloy, an aluminum alloy, or any other alloy that would be apparent to one skilled in the art. In other example designs, the offset plate 334 consist of a polymer material, composite material or ceramic material, depending on the purpose or intended use of the end effector 332 .

The end effector 332 is with the offset plate 334 by a force-torque bracket 340 connected to a force-torque sensor 336 may contain. The force-torque sensor 336 can apply the power to the end effector 332 measure to record the weight of a held or manipulated object, as well as any force exerted by resistance or obstacles on the end effector 332 hits during operation. The offset plate 334 and the offset bracket 338 as well as the force-torque bracket 340 can provide internal connections to provide pipes / gas ducts and conduction paths for wires to provide an electrical connection between the robot arm 330 and the end effector 332 to enable.

In some example implementations, the force-torque bracket 340 also the end effector 332 relative to the offset bracket 338 rotate and actuate using one or more actuators, such as those in 2 illustrated actuating device 212 . The actuator 212 may enable rotary actuation, torsional actuation, linear actuation, or any other type of actuation that would be apparent to one skilled in the art.

The force-torque bracket 340 can with a head connector 342 be connected to the head extension 344 is connected, which has a suction pad assembly 346 of the end effector 332 wearing. The head extension 344 may be a structural element that is supported by the force-torque bracket 340 starts out to be the length between one end of the robot arm 330 and the suction pad assembly 346 to enlarge. The head extension 344 can use the end effector 332 enable the suction pad assembly 346 to be positioned so that he can access objects in containers while at the same time the robot arm 330 Provides scope for maneuvering without colliding with the container or objects in the vicinity of the container.

The head connector 342 and the head extension 344 can be molded from a material selected to be the end effector 332 structurally supported. In some example implementations, the header connector 342 and the head extension 344 be formed from a metal such as a steel alloy, an aluminum alloy, or any other alloy that would be apparent to one skilled in the art. In other example designs, the header connector 342 and the head extension 344 be formed from a polymer material, a composite material, or a ceramic material, depending on the intended application or use of the end effector 332 .

The offset plate 334 also includes a conduit holder 348 the one with the one from the robotic arm 330 supplied air is connected and line connector 350 to distribute the air to the suction pad assembly 346 provides. The line connectors 350 can with air supply lines 356 connected to the suction shaft interfaces 354 are coupled and passed through a contact limit sensor device 352 extend that of the suction pad assembly 346 is assigned to the end effector arrangement. More specifically, for example, the suction pad assembly 346 the contact limit sensor device 352 contain. The cable holder 348 can the air supply lines 356 during operation of the robot arm 330 Hold and position to avoid pinching or crushing the air supply lines 356 to prevent. The contact limit sensor device 352 can be a sensor that can prevent the end effector 332 exerts pressure that could damage the object through contact. Contact limit sensor device details 352 are discussed below.

In some example implementations, the conduit connectors 350 be connected to one or more vacuum sources (not shown) to the suction shaft interfaces 354 the suction pad assembly 346 of the end effector 332 suck in. For example, the line connector 350 can be connected to one or more vacuum ejectors that generate vacuum pressure with compressed air. For example, a vacuum ejector can direct compressed air through a nozzle that is shaped to create a low pressure zone that provides vacuum pressure for the suction pad assembly 346 generated.

The vacuum pressure generated can be released from the line connectors 350 via the air supply lines 356 to the suction shaft interfaces 354 be directed. The vacuum pressure at the suction shaft interfaces 354 can be attached to the suction pad assembly 346 can be applied to provide suction for gripping and releasing an object or otherwise securing, attaching and releasing objects to and from the end effector 332 to create. Operation of the suction pad assembly 346 is explained in more detail below.

The end effector 332 can be manipulated by operating the operating devices, such as the operating devices 212 the end 2 associated with the structural elements of the robotic arm 330 , the joints of the robot arm 330 and the brackets (e.g. offset bracket 338 , Force-torque bracket 340 ) or a combination thereof. The end effector 332 can be actuated to grasp or release objects by using one or more of the actuating devices 212 operated with one or more parts of the end effector 332 connected or attached to it. The end effector 332 can attach objects using the attached to the suction pad assembly 346 the applied vacuum pressure and release and thereby the object at the end effector 332 secure, attach to it or detach from it.

4A-4E illustrate different views of the end effector 332 of the robot arm 330 in accordance with example implementations of the present invention. Shows in different views 4A a front view of the end effector 332 and 4B a top view of the end effector 332 . Also shows 4C a view of the end effector 332 from below and 4D a side view of the end effector 332 . 4E Figure 3 shows a sectional view of the end effector 332 from 4A along the line IVE-IVE '.

As shown, the line holder 348 on one side of the offset plate 334 for force-torque support 340 and the force-torque sensor 336 be positioned in opposite directions. The air supply lines 356 the 3A and 3B will be in 4A-4E omitted to better visualize the line connector 350 and the suction shaft interfaces 354 to enable. As shown, the line connectors protrude 350 from the cable holder 348 forward.

The force-torque bracket 340 can mechanically with the head connector 342 coupled to any force or torque from the head extension 344 on the force-torque sensor 336 transferred to. In some example implementations, the force-torque sensor 336 be a kind of contact sensor, like the contact sensor 226 the end 2 .

As shown, the head extension 344 with the head connector 342 be connected by a clamp connection. In other example implementations, the head extension 344 but with the head connector 342 be coupled by press-fitting, screwing, welding, gluing, or any other mechanical coupling mechanism that would be apparent to a person skilled in the art.

The head extension 344 can be done mechanically with the end effector 332 coupled to any force or torque from the suction pad assembly 346 of the end effector 332 on the force-torque sensor 336 transferred to. As shown, the head extension 344 with a fastening screw 370 to the suction pad assembly 346 be coupled. In other example implementations, the head extension 344 but with the suction pad arrangement 346 be coupled by press fitting, clamping, welding, gluing, or any other mechanical coupling mechanism that would be apparent to one skilled in the art. In this way, any force or torque exerted by the suction pad assembly 346 is experienced through the force-torque bracket 340 , the head connector 342 and the head extension 344 on the force-torque sensor 336 transfer.

The structure that holds the force-torque sensor 336 through the force-torque bracket 340 , the head connector 342 and / or the head extension 344 May allow bumps or blows to the suction pad assembly 346 on the force-torque sensor 336 transferred to the robotic arm 330 Give feedback. The force-torque sensor 336 can also be the weight of objects (e.g. a target object 112 the end 1 ) measure by the suction pad assembly 346 gripped or held, as well as weight shifts in the object when the suction pad assembly 346 is moved or positioned.

In some other example implementations, the end effector 332 also contain one or more additional sensor units. For example, one or more of the contact sensors 226 the end 2 at the end effector 332 attached or integrated into it. In some example implementations, the contact sensors 226 be a force, pressure, torque and / or other tactile sensor that is at the end effector 332 attached or integrated in this, in addition to the force-torque sensor 336 that is at the end of the offset plate 334 to the offset bracket 338 is attached opposite. In another example implementation, the contact sensors 226 contain separate linear force sensors configured to measure the weight of the object (e.g., the target object 112 from 1 ) measure that from the suction pad assembly 346 being held or worn. Further examples of sensor units (e.g. the contact limit sensor 366 from 6th ) are discussed below.

The suction cup assembly 346 can have several suction shaft interfaces 354 contained that differs from the contact limit sensor device 352 extend upwards. Any of the suction shaft interfaces 354 is communicative with either a suction cup 358 or a suction cup 360 coupled. In some example implementations, the suction cup 358 have a larger relative diameter than the suction cup 360 . The fact that the suction cups 358 and 360 Having two different sizes allows flexibility in gripping or holding objects by the suction pad assembly 346 enable. For example, the smaller relative size of the suction cups 360 grip smaller or irregularly shaped objects better due to their smaller size. Furthermore, the larger relative size of the suction cups 358 achieve a higher gripping force for gripping and manipulating larger objects, as the gripping force is a product of the vacuum pressure and the surface area of the suction cup.

In the implementations shown, the suction pad assembly is 346 with a total of four suction cups ( 358 and 360 ) shown with two different relative sizes. However, example implementations of the present invention may include more than a total of four suction cups or fewer than a total of four suction cups. Also, in some example implementations, more than two different relative sizes of suction cups may be provided. Alternatively, a single size suction cup can be arranged.

5 Figure 3 shows a sectional view of the end effector 332 from 4A along the line V-V '. As shown, the end effector contains 332 the head extension 344 who have favourited the suction pad assembly 346 with the offset plate 334 connects. As discussed above, the suction pad assembly includes 346 several suction shaft interfaces 354 that differ from the contact limit sensor device 352 extending upward, each of the suction duct interfaces 354 communicative either with the suction cup 358 or the suction cup 360 is coupled. In some example implementations, the suction cup 358 have a larger relative diameter than the suction cup 360 .

As in 5 shown includes the suction pad assembly 346 also a suction shaft 362 that communicates with the suction shaft interface 354 one of the suction cups 358 & 360 is paired. Because the suction shaft interfaces 354 via the air supply lines 356 connected to vacuum pressure sources, the vacuum pressure is drawn from the air supply lines 356 through the suction shaft 362 to the suction cups 358 and 360 guided, whereby sufficient suction force is generated to pick up objects. In some example implementations, the suction stems 362 who have favourited suction cups 358/360 and the suction shaft interfaces 354 relative to the contact limit sensor device 352 be agile. The contact limit sensor device 352 can, for example, be a housing 368 included, through which the suction shafts 362 can slide in the vertical direction so that the suction cups ( 358/360 ), which is located below the housing 368 and the suction shaft interfaces 354 that are located above the case 368 can move relative to the housing, as indicated by the arrows 370 shown.

Additionally, the suction pad assembly 346 also a mechanism 364 included to restore displacement, which provides a biasing force to the suction cups 358 & 360, the suction shafts 362 and the suction shaft interfaces 354 after displacements relative to the housing 368 the suction pad assembly 346 in a standard position. In some example implementations, the mechanism 364 to restore the displacement be a spring, such as a compression spring, a coil spring, a gas spring, or any other biasing mechanism that would be apparent to one skilled in the art. The mechanism 364 to restore the displacement can be done within an outer shell 372 (e.g. an outer pipe) of the suction shaft 362 be positioned or housed. So can the mechanism 364 to restore the displacement of it's suction cups 358/360 allow to return to a standard position after being displaced by contact with an object or an obstacle during operation.

Each of the suction shafts 362 and / or the mechanism 364 to restore the displacement can through the contact limit sensor device 352 be guided. In some embodiments, the horizontal position of the suction stems 362 and the suction cups 385/360 by the contact limit sensor device 352 be fixed relative to each other.

6A-6F are perspective views of the end effector 332 showing the displacement of the suction cups 358/360 of the end effector 332 in accordance with example embodiments of the present invention. 6A represents one of the suction cups (suction cup 360A ) moved up from a standard position. 6B shows two of the suction cups (suction cups 360A and 360B ) moved up from the standard position. 6C shows all four suckers (suckers 360A , 360B , 358A and 358B ) moved up from the standard position. 6D shows the displacement of the contact limit sensor device 352 . 6E Figure 4 is a rear view of the end effector 332 from 6B who have favourited two of the suction cups (suction cups 360A and 360B ) that are shifted from the default position. 6F is the end effector 332 from 6E with the contact limit sensor device shown in phantom 352 .

As shown, the end effector 332 the suction cups 358/360 have in a standard position. The default position for each of the suction cups 358/360 can have a common horizontal plane. As explained above, the end effector can 332 be configured so that each of the suction cups 358/360 independent of another relative to the contact limit sensor 352 can be moved from a standard position. For example, any suction cup 358/360 due to pressure or force on the suction cups 358/360 be moved when one or more of the suction cups 358/360 touch an object. Each of the suckers 358/360 can be independent of the other suction cups 358/360 be moved. 6A shows that the suction cup 360A independent of the other suction cups 358/360 can be moved. 6B shows that the suction cups 360A and 360B independent relative to the suction cups 358 can be moved. 6C shows all four suction cups ( 360A , 360B , 358A and 358C ) postponed. The direction of displacement can be along the axis 374 the suction shafts 362 (e.g. perpendicular to the ends of the suction cups 358/360 / Bases of the barrel cylinder). 6E illustrates the displacement of the two suction cups (suction cups 360A and 360B ) from 6B from the opposite point of view and 6F illustrates the same displacement of the two suction cups (suction cups 360A and 360B ) from 6B with the contact limit sensor device shown as transparent 352 .

In other words, the independent displacement for each of the suction cups (ie, 360A, 360B, 358A and 358B of FIG 6C ) can allow each of the suction cups to move 358/360 are at different relative positions to each other. The independent shift can make it to the end effector 332 allow objects with different surface contours (ie uneven / irregular surfaces), such as bags and other flexible containers, to be accommodated or to be adapted to these.

In some example implementations, the contact limit sensor device 352 be moved. For example, the contact limit sensor device 352 from the in 6A-6C can be moved into a contact-limited position shown in 6D is shown. In some embodiments, the displacement of the contact limit sensor device 352 from the home or standard position of 6A-6C to the contact limit position of 6D by moving one or more suction cups 358/360 caused. In some example implementations, the displacement of the contact limit sensor device 352 into the contact-limited position as a result of the displacement by one or more of the suction cups 358/360 correspond to the fact that the suction cup 358/360 exerts pressure on the object that exceeds a contact threshold that could potentially damage the object (also known as a contact boundary).

The amount of displacement by the contact limit sensor device 352 can from a contact limit sensor 366 registered, which sends a signal (e.g. contact information) to the control unit 202 from 2 sends to prevent the end effector from reaching the contact threshold 332 further pressure is exerted on the object. The end effector 332 can be prevented from moving further towards the object when the contact limit sensor 366 determines that the contact threshold (e.g. contact limit) has been reached. By the equipment of the end effector 332 with a contact limit sensor device 352 the advantage can be achieved that only a single sensor can determine whether the end effector 332 has exceeded the contact limit on an object because the displacement of one of the suction cups 358/360 leads to the contact limit sensor 352 is moved to the contact limit position.

In some example implementations, as in 6a-6f shown, the suction cups can 360 with the smaller relative size (e.g. the front pair of suction cups) can be used to grip smaller objects or objects that are easily damaged (e.g. delicate objects) while the suction cups are in use 358 with the larger relative size (e.g. the rear pair of suction cups) can be used to grab larger objects or objects that are less likely to be damaged.

Further, in some example implementations, the housing 368 the contact limit sensor device 352 an offset level 376 included that have a larger displacement distance for the suction cups 358 with larger relative size (also referred to as the larger suction cups) than the displacement distance for the suction cups 360 with smaller relative size (also known as the smaller suction cups). Since the smaller suction cups can be used, for example, for sensitive objects, less force or pressure should be exerted before the contact limit is reached in order to avoid damage. In this way, the contact limit position by the smaller suction cups can be reached before that of the larger suction cups, which is achieved by the offset stage 376 in the contact limit sensor device 352 can be reached.

7th Figure 10 shows a perspective view of a robot arm 330 in accordance with example implementations of the present invention. As shown, the robotic arm contains 330 a compressed air supply 705 that with the end effector 332 the gripper attachment 328 is coupled. Specifically, the compressed air supply can 705 via fluid supply lines 710 to the cable holder 348 be connected. The compressed air supply 705 can be used to hold the line bracket 348 to supply vacuum pressure, which is the vacuum pressure for the suction cups 358/360 the suction pad assembly 346 supplies.

As shown, the offset bracket 338 the gripper attachment 328 on the robot arm 330 by an actuator 715 are attached, the actuation of the gripper attachment 328 made possible by rotation in a horizontal plane. The actuator 715 can with a second actuator 720 be coupled, the actuation of the gripper attachment 328 made possible by rotation in a vertical plane. A third actuator 725 can with the second actuator 720 be coupled to a further actuation of the gripper attachment 328 to enable. Together, the actuating devices 715 , 720 and 725 it the robotic arm 330 enable the end effector 332 the gripper attachment 328 to maneuver around an object 730 to take so that the object 730 can be picked up, repositioned or moved.

The resulting method, process, apparatus, apparatus, product, and / or system of the present invention is cost effective, highly versatile, accurate, sensitive, and effective, and, by adapting known components, can be used for easy, efficient, and economical manufacture and usage. Another important aspect of an embodiment of the present invention is that it valuable supports and serves the historical trend of reducing costs, simplifying systems, and increasing performance.

These and other valuable aspects of an embodiment of the present invention thus take the state of the art to at least the next level.

Although some example implementations have been shown and described, these example implementations are provided to convey the subject matter described herein to those familiar with the field. It should be understood that the subject matter described here can be implemented in various forms without being limited to the example embodiments described. The subject matter described herein may be practiced without the specifically defined or described subjects, or with other or different elements or subjects not described. Those familiar with this field will appreciate that changes can be made in these exemplary embodiments without departing from the subject matter described herein as defined in the appended claims and their equivalents.

Claims (20)

Robot system, comprising: an end effector configured to grasp an object, the end effector comprising: a suction cup assembly configured to engage the object; and a contact limit sensor configured to detect a pressure associated with engagement between the suction cup assembly and the object, the contact limit sensor transmitting contact information when the contact limit sensor detects that the pressure exceeds a contact threshold; a sensor unit that monitors contact information received from a contact limit sensor, and a control device, coupled to the sensor unit, configured to carry out an operation for controlling the end effector to limit the movement of the end effector in the direction of the object on the basis of the received contact information in order to damage the object impede. Robot system according to Claim 1 the suction cup assembly comprising: a housing; a first suction cup coupled to a vacuum pressure source, the first suction cup being displaceable relative to the housing; and wherein the contact limit sensor is configured to sense the pressure associated with engagement between the suction cup assembly and the object based on the displacement of the first suction cup relative to the housing. Robot system according to Claim 2 wherein the suction cup assembly further comprises: a second suction cup coupled to a vacuum pressure source, the second suction cup relative to and independent of the housing first suction cup is slidable; and wherein the contact limit sensor is configured to sense a pressure associated with engagement between the suction cup assembly and the object based on the displacement of the first suction cup and / or the second suction cup relative to the housing. Robot system according to Claim 3 wherein the first suction cup is smaller in size relative to a size of the second suction cup. Robot system according to Claim 4 , the housing having an offset step configured to allow greater displacement of the second suction cup relative to the housing than an allowable displacement of the first suction cup, the contact limit sensor being configured to detect the engagement between the suction cup assembly and the Detected object associated pressure on the basis of the permissible displacement of the first suction cup and / or the second suction cup. Robot system according to Claim 2 wherein the suction cup assembly further comprises: a suction duct extending through the housing, the first suction cup communicatively coupled to the suction duct and the vacuum pressure source, the suction duct being movable relative to the housing. Robot system according to Claim 6 wherein the suction cup assembly further comprises: a displacement recovery mechanism configured to bias the suction chute to a standard position relative to the housing, the contact limit sensor configured to detect the engagement between the suction cup assembly and the object associated pressure is detected based on a pressure to overcome the bias provided by the displacement recovery mechanism. Robot system according to Claim 1 , further comprising a force-torque sensor configured to measure the force applied by the end effector. Object handling unit, comprising: - a robotic arm; and an end effector configured to grasp an object, the end effector comprising: a suction cup assembly configured to grasp the object; and a contact limit sensor configured to sense a pressure associated with engagement between the suction cup assembly and the object, the contact limit sensor transmitting contact information when the contact limit sensor detects a pressure exceeding a contact threshold, and the transmitted contact information causes the movement of the end effector towards the object is limited in order to prevent damage to the object. Object handling unit according to Claim 9 the suction cup assembly comprising: a housing; a first suction cup coupled to a vacuum pressure source, the first suction cup being displaceable relative to the housing; and wherein the contact limit sensor is configured to sense the pressure associated with engagement between the suction cup assembly and the object based on the displacement of the first suction cup relative to the housing. Object handling unit according to Claim 10 the suction cup assembly further comprising: a second suction cup coupled to a vacuum pressure source, the second suction cup being displaceable relative to the housing and independently of the first suction cup; and wherein the contact limit sensor is configured to sense a pressure associated with engagement between the suction cup assembly and the object based on the displacement of the first suction cup and / or the second suction cup relative to the housing. Object handling unit according to Claim 11 wherein the first suction cup is smaller in size relative to a size of the second suction cup. Object handling unit according to Claim 12 , the housing having an offset step configured to allow greater displacement of the second suction cup relative to the housing than an allowable displacement of the first suction cup, the contact limit sensor being configured to detect the engagement between the suction cup assembly and the Detected object associated pressure on the basis of the permitted displacement of the first suction cup and / or the second suction cup. Object handling unit according to Claim 10 wherein the suction cup assembly further comprises: a suction duct extending through the housing, the first suction cup communicatively coupled to the suction duct and the vacuum pressure source, the suction duct being movable relative to the housing. Object handling unit according to Claim 14 , the suction cup assembly further comprising: a displacement recovery mechanism configured to bias the suction chute to a standard position relative to the housing, the contact limit sensor configured to detect engagement between the The suction cup assembly and the pressure associated with the object are detected based on a pressure to overcome the bias provided by the displacement recovery mechanism. Object handling unit according to Claim 9 further comprising a force-torque sensor configured to measure force through the end effector. Gripper fastening for an object handling system, comprising: an end effector configured to grasp an object, the end effector comprising: a suction cup assembly configured to engage the object, the suction cup assembly comprising: - a housing; a first suction cup configured to be coupled to a vacuum pressure source, the first suction cup being displaceable relative to the housing; and a second suction cup coupled to a vacuum pressure source, the second suction cup being displaceable relative to the housing and independently of the first suction cup; and a contact limit sensor configured to detect a pressure associated with engagement between the suction cup assembly and the object based on the displacement of the first suction cup and the second suction cup relative to the housing, the contact limit sensor transmitting contact information when the contact limit sensor detects that the pressure exceeds a contact threshold, and wherein the transmitted contact information has the effect that the movement of the end effector in the direction of the object is limited in order to prevent damage to the object. Gripper fastening Claim 17 wherein the first suction cup is smaller in size relative to a size of the second suction cup. Gripper fastening Claim 18 , wherein the housing has an offset step that is configured to allow a greater displacement of the second suction cup relative to the housing than an allowable displacement of the first suction cup, the contact limit sensor is configured to allow the engagement between the suction cup assembly and the Object-assigned force detected on the basis of the permitted displacement of the first suction cup and the second suction cup. Gripper fastening Claim 19 wherein the suction cup assembly further comprises: a suction duct extending through the housing, the first suction cup communicatively coupled to the suction duct and the vacuum pressure source, and the suction duct being movable relative to the housing; and a displacement recovery mechanism configured to bias the suction chute to a standard position relative to the housing, the contact limit sensor configured to determine the pressure associated with engagement between the suction cup assembly and the object based on a Pressure to overcome the preload provided by the displacement recovery mechanism.

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