CN114474136B

CN114474136B - Robot system with gripping mechanism

Info

Publication number: CN114474136B
Application number: CN202210027580.8A
Authority: CN
Inventors: 雷磊; 陈旭; 张艺轩; 郑湃; 杜宇凡; 沟口弘悟; 谢卡尔·古普塔; 鲁仙·出杏光
Original assignee: Mu Jinkeji
Current assignee: Mu Jinkeji
Priority date: 2021-01-12
Filing date: 2021-12-28
Publication date: 2025-02-11
Anticipated expiration: 2041-12-28
Also published as: CN114474136A

Abstract

An object clamping assembly and associated systems and methods are disclosed herein. In some embodiments, the object clamping assembly includes a first carrier plate having a first mounting rail extending along a first axis, and two or more second carrier plates movably carried by the first mounting rail. Each of the two or more second carrier plates may include a second mounting rail extending at least along a second axis and an extendable clamping member movably carried by the second mounting rail. The first spacing adjustment component can operatively couple the two or more second carrier plates to controllably vary the spacing of the two or more second carrier plates along the first mounting rail. A second spacing adjustment member can be operatively coupled to the extendable clamp members on a corresponding second carrier plate to controllably vary the spacing of the extendable clamp members along the second mounting rail.

Description

Robot system with clamping mechanism

The application is a divisional application of China application CN202111623243.7, the application date is 2021, 12 months and 28 days, and the name of the robot system with a clamping mechanism is.

Cross Reference to Related Applications

The present application claims the benefit of U.S. provisional patent application No.63/136,207, filed 1/12 at 2021, which is incorporated herein by reference in its entirety.

Technical Field

The present technology relates generally to robotic systems having gripping mechanisms, and more particularly to robotic systems having pitch-controllable, variable gripping mechanisms.

Background

With the ever-increasing performance and decreasing cost of robots (e.g., machines configured to automatically/autonomously perform physical actions), many robots are now in widespread use in many fields. For example, robots may be used to perform various tasks (e.g., spatially manipulating or transferring objects) during manufacturing and/or assembly, packaging and/or packaging, transportation and/or shipping, etc. In performing tasks, robots may replicate human actions, thereby replacing or reducing human participation that would otherwise be required to perform dangerous or repetitive tasks.

However, despite advances in technology, robots often lack the advancement necessary to replicate the human-machine interaction required to perform larger and/or more complex tasks. Accordingly, there remains a need for improved techniques and systems for managing operations and/or interactions between robots.

Drawings

Fig. 1 is an illustration of an example environment in which a robotic system having a gripping mechanism may operate in accordance with some embodiments of the present technique.

Fig. 2 is a block diagram illustrating the robotic system of fig. 1 in accordance with some embodiments of the present technique.

Fig. 3 is a side view of a robotic system having an object clamping assembly with a controllable, variable pitch setting mechanism in accordance with some embodiments of the present technique.

Fig. 4A and 4B are isometric views of an object clamping assembly according to some embodiments of the present disclosure.

Fig. 5 is an isometric view of a spacing adjustment component in accordance with some embodiments of the present technique.

Fig. 6 and 7 are isometric views of a stop mechanism for a spacing adjustment component in accordance with some embodiments of the present technique.

Fig. 8A and 8B are isometric views of a pitch adjustment component at various pitch settings, in accordance with some embodiments of the present technique.

Fig. 9-11 are isometric views of an object clamp assembly under various operating parameters in accordance with some embodiments of the present technique.

Fig. 12 is a flow chart of a process for operating an object clamping assembly under various operating parameters in accordance with some embodiments of the present technique.

Fig. 13 is a flow chart of a process for setting minimum and/or maximum operational settings of an object clamping assembly in accordance with some embodiments of the present technique.

The drawings are not necessarily to scale. Similarly, for the purposes of discussing some implementations of the present technology, some components and/or operations may be divided into different blocks or combined into a single block. Further, while the present technology is susceptible to various modifications and alternative forms, specific implementations are shown by way of example in the drawings and are described in detail below. However, the techniques are not intended to be limited to the specific implementations described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the present technology as defined by the appended claims.

Detailed Description

Overview of the invention

Object clamping assemblies having variable spacing and methods of operating the same are disclosed herein. In some embodiments, an object clamping assembly includes a first carrier plate having an upper surface and a lower surface. The upper surface may include a flange configured to be coupled to a robotic arm or other suitable positioning mechanism, while the lower surface may include one or more first mounting rails extending along a first axis (e.g., in the x-direction). The first mounting rail is capable of slidably carrying a plurality of second carrying plates. Each second carrier plate may include one or more second mounting rails extending along a second axis (e.g., in the y-direction) that is at least partially orthogonal to the first axis. A plurality of extendable clamp members are slidably carried by the second mounting rail. The first carrier plate may also carry a first spacing adjustment plate operatively coupled to the second carrier plate. The position of the first spacing adjustment plate controls the spacing of the second bearing plate on the first axis. Therefore, the movement of the first spacing adjustment plate controllably adjusts the spacing of the plurality of second carrier plates. Additionally or alternatively, each second carrier plate may carry a plurality of second spacing adjustment plates operatively coupled to the extendable clamping members on the corresponding second carrier plate. The position of the second spacing adjustment plate controls the spacing of the extendable clamping members on the second axis. Thus, movement of the second spacing adjustment plate controllably adjusts the spacing of the extendable clamping members.

In some embodiments, the object clamping assembly includes a first deployable member operatively coupled between the first spacing adjustment plate and the first carrier plate. As the first deployable member deploys (or retracts), the first deployable member adjusts the position of the first pitch adjustment plate relative to the first carrier plate. Thus, deployment (or retraction) of the first deployable member enables controllable adjustment of the spacing of the second carrier plate along the first axis.

Similarly, in some embodiments, the object gripping assembly includes a plurality of second deployable members operably coupled between corresponding second pitch adjustment plates and second carrier plates. As the second deployable member deploys (or retracts), the second deployable member adjusts the position of the second pitch adjustment plate relative to the second carrier plate. Thus, deployment (or retraction) of the second expandable member can controllably adjust the spacing of the expandable gripping members along the second axis. In some such embodiments, each second carrier plate includes one or more vertical mounting rails extending on a vertical axis (e.g., in the z-direction) that is at least partially orthogonal to the first axis and the second axis. The second spacing adjustment plates may be slidably carried by vertical mounting rails on the corresponding second carrier plates at locations set by the second deployable members.

In some embodiments, the one or more second carrier plates include one or more stop members operable between an engaged position and a disengaged position. In the engaged position, the stopper member prevents the corresponding second pitch adjustment plate from moving beyond a position predetermined by the position of the stopper member. By preventing movement beyond a predetermined position, the stop member may provide a minimum and/or maximum spacing of the extendable gripping members. In some embodiments, the predetermined position may be adjusted as desired (e.g., before, simultaneously with, or after engaging the stop member), allowing for easy adjustment of the minimum and/or maximum spacing. In some embodiments, the one or more second carrier plates include two stop members, allowing the first stop member to set a maximum spacing of the extendable gripping members and the second stop to set a minimum spacing.

In various embodiments, each extendable gripping member may include gripping members such as suction elements, vacuum ports, magnetic members, pneumatic grips, robotic grips, and/or any other suitable members. In some embodiments, a first subset of the extendable clamping members has a first clamping member (e.g., a suction element) and a second subset of the extendable clamping members has a second clamping member (e.g., a magnetic element). Further, in some embodiments, each extendable gripping member may be independently extendable and/or actuated to grip and release an object, thereby allowing any subset of the extendable gripping members to operate at a given time. As a result, the object clamping assembly can customize the spacing of the extendable clamping members and/or the total number of extendable clamping members in a single operation.

For ease of reference, the object clamping assembly is described herein, at times, with reference to top and bottom, upper and lower, upward and downward, x-y, z, horizontal or vertical planes relative to the spatial orientation of the embodiments shown in the figures. However, it should be understood that the object clamping assembly may be moved to and used in different spatial orientations without altering the structure and/or function of the disclosed embodiments of the present technology.

In addition, for the sake of clarity, several details describing structures or processes that are well known and typically associated with robotic systems and subsystems, but which may unnecessarily obscure important aspects of the disclosed technology are not set forth in the following description. Furthermore, while the following disclosure sets forth several embodiments of different aspects of the present technology, several other embodiments may have configurations or components different from those described in this section. Thus, the disclosed technology may have other implementations with or without additional elements described below.

Many of the embodiments or aspects of the present disclosure described below may take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the relevant 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 may be embodied in a special purpose computer or data processor that is specifically programmed, configured, or constructed to perform one or more of the computer-executable instructions described below. Thus, the terms "computer" and "controller" as generally used herein refer to any data processor, and may include Internet appliances and hand-held devices, including palm-top computers, wearable computers, cellular or mobile phones, multiprocessor systems, processor-based or programmable consumer electronics, network computers, minicomputers, and the like. The information handled by these computers and controllers may be presented on any suitable display medium, including Liquid Crystal Displays (LCDs). Instructions for performing computer or controller-executable tasks may be stored in or on any suitable computer-readable medium including hardware, firmware, or a combination of hardware and firmware. The instructions may be contained in any suitable memory device, including, for example, a flash drive, a USB device, and/or other suitable medium.

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

Example Environment for a robotic System

FIG. 1 is an illustration of an example environment in which a robotic system 100 having an object handling mechanism may operate. The operating environment of the robotic system 100 may include one or more structures, such as a robot or robotic device, configured to perform one or more tasks. Aspects of the object handling mechanism may be practiced or carried out by various structures and/or components.

In the example shown in fig. 1, the robotic system 100 may include an unloading unit 102, a transfer unit 104, a transport unit 106, a loading unit 108, or a combination thereof in a warehouse, a distribution center, or a transport hub. Each unit in robotic system 100 may be configured to perform one or more tasks. Tasks may be combined in order to perform operations to achieve a goal, such as unloading objects from a vehicle (such as a truck, trailer, truck, or railcar) for storage in a warehouse, or unloading objects from a storage location and loading them onto a vehicle for shipment. In another example, a task may include moving an object from one location (such as a container, case, cage, basket, shelf, platform, tray, or conveyor) to another location. Each unit may be configured to perform a series of actions (such as operating one or more components therein) to perform tasks.

In some embodiments, the task may include interactions with the target object 112, such as manipulation, movement, reorientation, or a combination thereof of the object. The target object 112 is an object to be loaded and unloaded by the robot system 100. More specifically, the target object 112 may be a specific object of a number of objects that are targets of the operation or task of the robotic system 100. For example, the target object 112 may be an object that the robotic system 100 has selected or is currently handling, manipulating, moving, reorienting, or a combination thereof. By way of example, the target object 112 may include a box, a tube, a package, a bale, a wide variety of individual items, or any other object that may be handled by the robotic system 100.

As an example, the task may include transferring the target object 112 from the object source 114 to the task location 116. The object source 114 is a container for storing objects. The object source 114 may include numerous configurations and forms. For example, the object source 114 may be a platform, such as a tray, rack, or conveyor belt, with or without walls, on which objects may be placed or stacked. In addition, the object source 114 may be a partially or fully enclosed container, such as a box, cage, or basket, with a wall or lid within which objects may be placed. In some embodiments, the walls of the partially or fully enclosed object source 114 may be transparent, or may include openings or gaps of various sizes such that portions of the objects contained therein may be visible or partially visible through the walls.

Fig. 1 illustrates an example of possible functions and operations that may be performed by the various units of the robotic system 100 in handling the target object 112, and it should be understood that the environment and conditions may be different from those described below. For example, the unloading unit 102 may be a vehicle unloading robot configured to transfer the target object 112 from a position in a vehicle (such as a truck) to a position on a conveyor belt. Moreover, a transfer unit 104, such as a palletizing robot, may be configured to transfer the target object 112 from a position on the conveyor belt to a position on the transport unit 106, such as a pallet for loading the target object 112 on the transport unit 106. In another example, the transfer unit 104 may be a pick-up robot configured to transfer the target object 112 from one container to another container. Upon completion of the operation, the transport unit 106 may transfer the target object 112 from the area associated with the transfer unit 104 to the area associated with the loading unit 108, and the loading unit 108 may transfer the target object 112 from the transfer unit 104 to a storage location (such as a location on a shelf), such as by moving a tray carrying the target object 112. Details regarding tasks and associated actions are described below.

The robotic system 100 is described in the context of a shipping center for illustrative purposes, however, it should be understood that the robotic system 100 may be configured to perform tasks in other environments or for other purposes, such as for manufacturing, assembly, packaging, healthcare, or other types of automation. It should also be appreciated that the robotic system 100 may include other units not shown in fig. 1, such as a manipulator, a service robot, a modular robot, and the like. For example, in some embodiments, the robotic system 100 may include a destacking unit for transferring objects from a cage, cart, or tray onto a conveyor belt or other tray, a container switching unit for transferring objects from one container to another container, a packing unit for packing objects, a sorting unit for grouping objects according to one or more characteristics of the objects, a pick-up unit for manipulating (such as sorting, grouping, and/or transferring) the objects in different ways according to one or more characteristics of the objects, or a combination thereof.

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

Suitable system

Fig. 2 is a block diagram illustrating a robotic system 100 in accordance with one or more embodiments of the invention. In some embodiments, for example, the robotic system 100 may include electronics, or a combination thereof coupled to each other, integrated or coupled with one or more units or robots described above in fig. 1, or a combination thereof, such as a control unit 202 (sometimes referred to herein as a "processor" 202), a storage unit 204, a communication unit 206, a system input/output (I/O) device 208 having a system interface 210 (sometimes referred to herein as a "user interface 210"), one or more actuation devices 212, one or more transport motors 214, one or more sensor units 216, or a combination thereof.

The control unit 202 may be implemented in a number of different ways. For example, the control unit 202 may be a processor, an Application Specific Integrated Circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware Finite State Machine (FSM), a Digital Signal Processor (DSP), or a combination thereof. The control unit 202 may execute software and/or instructions to provide the intelligence of the robotic system 100.

The control unit 202 may be operably coupled to a user interface 210 to provide control of the control unit 202 to a user. The user interface 210 may be used for communication between the control unit 202 and other functional units in the robotic system 100. The user interface 210 may also be used for communication external to the robotic system 100. The user interface 210 may receive information from other functional units or from external sources, or may send information to other functional units or to external destinations. The external source and external destination refer to sources and destinations external to the robotic system 100.

The user interface 210 may be implemented in different ways and may include different implementations depending on which functional units or external units are interfacing with the user interface 210. For example, the user interface 210 may be implemented with a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), an optical circuit, a waveguide, a wireless circuit, a wired circuit, an application programming interface, or a combination thereof.

The storage unit 204 may store software instructions, master data, trace data, or a combination thereof. For purposes of illustration, the memory unit 204 is shown as a single element, but it should be understood that the memory unit 204 may be a distribution of memory elements. Also for purposes of illustration, the robotic system 100 is shown with the storage unit 204 as a single-tier storage system, but it should be understood that the robotic system 100 may have the storage unit 204 take different configurations. For example, the storage unit 204 may be formed by different storage technologies forming a memory hierarchy system including different levels of cache, main memory, rotating media, or offline storage.

The storage unit 204 may be volatile memory, non-volatile memory, internal memory, external memory, or a combination thereof. For example, the storage unit 204 may be a nonvolatile memory such as a nonvolatile random access memory (NVRAM), a flash memory, a disk memory, or a volatile memory such as a Static Random Access Memory (SRAM). As another example, the storage unit 204 may be a non-transitory computer medium including non-volatile memory, such as a hard disk drive, NVRAM, a solid State Storage Device (SSD), a Compact Disc (CD), a Digital Video Disc (DVD), or a Universal Serial Bus (USB) flash memory device. The software may be stored on a non-transitory computer readable medium for execution by the control unit 202.

The storage unit 204 may be operatively coupled to the user interface 210. The user interface 210 may be used for communication between the storage unit 204 and other functional units in the robotic system 100. The user interface 210 may also be used for communication external to the robotic system 100. The user interface 210 may receive information from other functional units or from external sources, or may send information to other functional units or to external destinations. The external source and external destination refer to sources and destinations external to the robotic system 100.

Similar to the discussion above, the user interface 210 may include different implementations depending on which functional units or external units are interfacing with the storage unit 204. The user interface 210 may be implemented with techniques and technologies similar to the implementations of the user interface 210 described above.

In some embodiments, the storage unit 204 is configured to further store and provide access to the processing results, predetermined data, thresholds, or combinations thereof. For example, the storage unit 204 may store master data including descriptions of one or more target objects 112 (e.g., boxes, box types, products, and/or combinations thereof). In one embodiment, the master data includes a size, a predetermined shape, a template of potential poses, and/or computer-generated models for identifying different poses, color schemes, images, identification information (e.g., bar codes, quick Response (QR) codes, signs, etc.), expected locations, expected weights, and/or combinations thereof of one or more target objects 112 expected to be manipulated by the robotic system 100.

In some embodiments, the master data includes steering related information about one or more objects that may be encountered or handled by the robotic system 100. For example, the manipulation-related information of the objects may include a centroid position on each object, expected sensor measurements (e.g., force, torque, pressure, and/or contact measurements) corresponding to one or more actions, manipulations, or combinations thereof.

The communication unit 206 may enable communication of the robotic system 100 with the outside. For example, the communication unit 206 may enable the robotic system 100 to communicate with other robotic systems or units, external devices (such as external computers, external databases, external machines, external peripheral devices), or combinations thereof, via a communication path 218 (such as a wired or wireless network).

Communication path 218 may span and represent a variety of networks and network topologies. For example, the communication path 218 may include wireless communication, wired communication, optical communication, ultrasonic communication, or a combination thereof. For example, satellite communications, cellular communications, bluetooth, infrared data association standards (lrDA), wireless fidelity (WiFi), and Worldwide Interoperability for Microwave Access (WiMAX) are examples of wireless communications that may be included in the communication path 218. Cables, ethernet, digital Subscriber Line (DSL), fiber-to-the-home (FTTH), and Plain Old Telephone Service (POTS) are examples of wired communications that may be included in the communications path 218. Further, the communication path 218 may traverse a plurality of network topologies and distances. For example, the communication path 218 may include a direct connection, a Personal Area Network (PAN), a Local Area Network (LAN), a Metropolitan Area Network (MAN), a Wide Area Network (WAN), or a combination thereof. The robotic system 100 may communicate information between the various units via a communication path 218. For example, information may be transferred between the control unit 202, the storage unit 204, the communication unit 206, the I/O device 208, the actuation device 212, the transport motor 214, the sensor unit 216, or a combination thereof.

The communication unit 206 may also function as a communication hub, allowing the robotic system 100 to function as part of the communication path 218 and is not limited to being an endpoint or terminal unit of the communication path 218. The communication unit 206 may include active and passive components, such as microelectronics or an antenna, for interaction to the communication path 218.

The communication unit 206 may include a communication interface 248. The communication interface 248 may be used for communication between the communication unit 206 and other functional units in the robotic system 100. Communication interface 248 may receive information from other functional units or from external sources, or may send information to other functional units or to external destinations. The external source and external destination refer to sources and destinations external to the robotic system 100.

Communication interface 248 may include different implementations depending on which functional units are interfacing with communication unit 206. Communication interface 248 may be implemented with techniques and technologies similar to the implementation of control interface 240.

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

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

The robotic system 100 may include physical or structural members, such as robotic manipulator arms, that are connected at joints for movement (such as rotational displacement, translational displacement, or a combination thereof). The structural members and joints may form a power chain configured to manipulate an end effector (such as a gripping element) to perform one or more tasks, such as gripping, spinning, or welding, depending on the use or operation of the robotic system 100. The robotic system 100 may include an actuation device 212, such as a motor, actuator, wire, artificial muscle, electroactive polymer, or a combination thereof, configured to drive, manipulate, displace, reorient, or a combination thereof, the structural member about or at the corresponding joint. In some embodiments, the robotic system 100 may include a transport motor 214 configured to transport the corresponding unit from one location to another.

The robotic system 100 may include a sensor unit 216 configured to obtain information for performing tasks and operations, such as for manipulating structural members or for transporting robotic units. The sensor unit 216 may include a device configured to detect or measure one or more physical properties of the robotic system 100, such as a state, condition, location, information about an object or surrounding environment, or a combination thereof, of one or more structural members or joints. As an example, the sensor unit 216 may include an imaging device, a system sensor, a contact sensor, and/or any combination thereof.

In some embodiments, the sensor unit 216 includes one or more imaging devices 222. Imaging device 222 is a device configured to detect and image the surrounding environment. For example, the imaging device 222 may include a 2-dimensional camera, a 3-dimensional camera, both of which may include a combination of visual and infrared capabilities, lidar, radar, other distance measurement devices, and other imaging devices. The imaging device 222 may generate a representation of the detected environment (such as a digital image or point cloud) for enabling machine/computer vision for automated inspection, robotic guidance, or other robotic applications. As described in further detail below, the robotic system 100 may process the digital image, the point cloud, or a combination thereof via the control unit 202 to identify the target object 112 of fig. 1, a pose of the target object 112, or a combination thereof. To manipulate the target object 112, the robotic system 100 may take and analyze images of a designated area (such as the interior of a truck, the interior of a container, or an object pick-up location on a conveyor belt) to identify the target object 112 of fig. 1 and its object source 114. Similarly, the robotic system 100 may take and analyze images of another designated area (such as a drop location for placing objects on a conveyor, a location for placing objects inside a container, or a location on a pallet for stacking purposes) to identify the task location 116 of fig. 1.

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

In some embodiments, the sensor unit 216 may include a contact sensor 226, such as a pressure sensor, a force sensor, a strain gauge, a piezoresistive/piezoelectric sensor, a capacitive sensor, an elastohydrodynamic sensor, a torque sensor, a linear force sensor, other tactile sensors, and/or any other suitable sensor configured to measure characteristics associated with direct contact between a plurality of physical structures or surfaces. For example, the contact sensor 226 may measure a characteristic corresponding to the gripping of the target object 112 by the end effector, or measure the weight of the target object 112. Accordingly, the contact sensor 226 may output a contact measurement representing a quantitative measurement, such as a measured force or torque, corresponding to the degree of contact or attachment between the gripping element and the target object 112. For example, the contact measurements may include one or more force or torque readings associated with a force applied by the end effector to the target object 112.

Suitable object clamping assembly with variable spacing mechanism

Fig. 3 is a side view of a robotic unit 300 (e.g., a pick-up unit, sometimes referred to as a robotic subsystem, for the robotic system 100 of fig. 1) having, in accordance with some embodiments of the present technique. In the illustrated embodiment, the robotic system 100 includes a robotic arm 310 and an end effector (e.g., object clamping assembly 320) attached to/carried by the robotic arm 310. As shown in fig. 3, the robotic arm 310 may include a first flange 312 and one or more knuckles 314 (three shown), while the object-holding assembly 320 includes a second flange 322 operably coupled to the first flange 312 of the robotic arm 310. When joined together, the first flange 312 and the second flange 322 may establish a physical connection and one or more communication connections (e.g., electrical, fluidic, or other suitable communication connections). The physical connection allows the robotic arm 310 to carry the object clamping assembly 320, while the communication connection allows the object clamping assembly 320 to be controlled through the connection with the robotic arm 310.

The one or more joints 314 allow the robotic arm 310 to controllably position the object-holding assembly 320 over and/or near a target object (e.g., the target object 112 of fig. 1). Once positioned, the object clamping assembly 320 may be operated to clamp the target object. The one or more joints 314 then also controllably position the object-holding assembly 320 by the robotic arm 310 to move the target object between a plurality of positions (e.g., between a pick-up position and a drop-in position). Once the object clamping assembly 320 is positioned above the desired location, the object clamping assembly 320 may be operated to release the target object. Additional details regarding the operation of the object clamping assembly 320 are provided below with reference to fig. 4A-13.

Fig. 4A and 4B are isometric views of an object clamping assembly 320 in accordance with some embodiments of the present technique. As shown, the object clamping assembly 320 may include a first carrier plate 424, one or more second carrier plates 430 (four shown, individually labeled as second carrier plates 430a-430 d) carried by the first carrier plate 424, and two or more extendable clamping members 470 (e.g., thirty-six, sometimes referred to as "extendable clamping elements" in the illustrated embodiment) carried by the second carrier plate 430.

As shown in fig. 4A, the second load bearing plates 430 (also sometimes referred to herein as "lower load bearing plates" and/or "vertical load bearing plates") each include one or more vertical mounting rails 432 (two shown on the front second load bearing plate 430 a) and one or more second mounting rails 434 (one shown on the front second load bearing plate 430 a), also sometimes referred to herein as "second horizontal mounting rails" and/or "horizontal mounting rails"). Each extendable clamp member 470 includes a clamp member mounting element 472 (e.g., ball bearing bracket, ball bearing slide plate, slidable bracket, transducer bracket, etc.) that is movably carried by the second mounting rail 434. The clamp member mounting element 472 and the second mounting rail 434 allow each extendable clamp member 470 to move (e.g., slide, adjust, etc.) along a first axis (e.g., x-axis). In turn, the position of each extendable gripping member 470 along the first axis may be controlled by a first spacing adjustment plate 440 (sometimes referred to as a first "adjustment plate") that is operatively coupled to each second carrier plate 430 and the extendable gripping members 470 carried thereon (e.g., resulting in four first spacing adjustment plates 440 for the illustrated embodiment). To this end, in the illustrated embodiment, each extendable clamping member 470 includes a protrusion 473 (e.g., a bearing, a roller, a low friction element, etc.), while the first pitch adjustment plate 440 includes pitch grooves 442 (sometimes referred to herein as "pitch slots" and "pitch tracks") that lie in a first plane (e.g., having components on a first axis and a vertical axis and lying in an x-z plane). Each protrusion 473 cooperates with a separate spacing groove 442 such that the horizontal component of the spacing groove 442 controls the position of the protrusion 473 along the first axis as the first spacing adjustment plate 440 moves along the vertical axis. As a result, movement of the first spacing adjustment plate 440 along the vertical axis controls the position of each extendable clamping member 470 along the first axis.

In addition, to adjust the spacing of the extendable clamp members 470 along the first axis, the spacing groove 442 may have a varying slope, such as toward a central portion of the first spacing adjustment plate 440. Pitch grooves with steeper slopes (e.g., having a smaller component in the x-direction) will result in less movement along the first axis. Conversely, a pitch groove with a shallower slope (e.g., with a greater component in the x-direction) will result in more movement along the first axis. If the spacing groove 442 is then arranged to have a slope that gradually decreases from the central portion to the peripheral portion, the central expandable clamping member 470 will move less than the peripheral expandable clamping member 470 as the first spacing adjustment plate 440 moves. As a result, movement of the first spacing adjustment plate 440 adjusts the spacing of the extendable clamping members 470 along the first axis.

An example of spacing adjustment of the extendable clamp members 470 is shown between fig. 4A and 4B. In the illustrated embodiment, the spacing groove 442 is oriented such that as the first spacing adjustment plate 440 moves downward between fig. 4A and 4B, the spacing of the extendable clamping members 470 decreases (e.g., the distance between adjacent clamping members 470 increases). Conversely, if the first spacing adjustment plate 440 moves upward (e.g., between the position of fig. 4B and the position of fig. 4A), the spacing of the extendable clamp members 470 increases (e.g., the distance between adjacent clamp members 470 decreases). However, it should be appreciated that the spacing groove 442 may be oriented in an opposite direction such that the spacing of the extendable clamping members 470 decreases as the second spacing adjustment plate 450 moves upward and increases as the second spacing adjustment plate 450 moves downward.

To control the spacing adjustment of the extendable clamp members 470, the object clamp assembly 320 includes features that control the vertical position of the first spacing adjustment plate 440. For example, in the illustrated embodiment, the first spacing adjustment plates 440 each include an adjustment plate mounting element 444 (e.g., a ball bearing bracket, a ball bearing slide, a slidable bracket, a transducer bracket, etc.) that is at least partially movably carried by the vertical mounting rail 432 on each second carrier plate 430. One or more first deployable members 462 are carried by each of the second carrier plates 430 (e.g., one for each of the second carrier plates 430). The first expandable member 462 is operatively coupled between the second carrier plate 430 and the corresponding first spacing adjustment plate 440 such that expansion (or retraction) of the first expandable member 462 controls the vertical position of the first spacing adjustment plate 440. As a result, deployment (or retraction) of the first expandable member 462 controls the spacing of the expandable clamping members 470 along the first axis.

In various embodiments, the first expandable member 462 may include various hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulic system), hydraulic struts, spring struts, torsion-driven expansion members, screw jacks, telescoping elements, telescoping rods integral with the housing, and the like. In some embodiments, the first expandable members 462 are controlled simultaneously, resulting in a uniform adjustment of the spacing of the expandable clamping members 470 on each of the second carrier plates 430. In some embodiments, the first expandable portion 462 is independently adjustable, allowing the spacing of the expandable clamping members 470 to vary between the second carrier plates 430 (e.g., the spacing of the expandable clamping members 470 on a front second carrier plate 430a may be different than the spacing of the expandable clamping members 470 on a rear second carrier plate 430 b).

In the illustrated embodiment, each of the spacing grooves 442 has a slightly curved slope. The curved ramp allows for consistent, uniform adjustment of the spacing of the extendable clamp members 470. That is, the curved ramp may help to maintain the spacing between each of the extendable clamp members 470 equal as the first spacing adjustment plate 440 moves in the vertical direction. However, in various other embodiments, one or more of the spacing grooves 442 may have a linear slope, resulting in a constant adjustment of the attached clamping member along the first axis for any movement of the first spacing adjustment plate 440 along the vertical axis.

In addition to controlling the spacing of the extendable clamp members 470 along a first axis, the object clamping assembly 320 also includes features that control the spacing of the extendable clamp members 470 along a second axis (e.g., y-axis) that is at least partially orthogonal to the first axis. For example, as further shown in fig. 4A and 4B, the first carrier plate 424 (also sometimes referred to as an "upper carrier plate" and/or a "horizontal carrier plate") has an upper surface 425a and a lower surface 425B opposite the upper surface. The lower surface 425b may include one or more first mounting rails 426 (two shown, also sometimes referred to herein as "first mounting rails" and/or "first horizontal mounting rails") extending along the second axis, and the second carrier plate 430 is movably carried by the first mounting rails 426. For example, in the illustrated embodiment, each second carrier plate 430 includes at least one carrier plate mounting element 436 (e.g., ball bearing bracket, ball bearing slide, slidable bracket, transducer bracket, etc.) for each first mounting rail 426 (e.g., two carrier plate mounting elements 436 are shown). The carrier plate mounting elements 436 and the first mounting rails 426 allow each of the second carrier plates 430 to move (e.g., slide, adjust, etc.) along the second axis. Movement of the second carrier plate 430 also moves the extendable clamp members 470 carried thereon.

Further, in the illustrated embodiment, the object clamping assembly includes one or more second spacing adjustment plates 450 (two shown, one labeled, sometimes referred to as second "adjustment plates", "second spacing adjustment members", and/or "adjustment members") each operatively coupled to the first carrier plate 424 and the second carrier plate 430 carried thereon. The second spacing adjustment plate 450 functions similarly to the first spacing adjustment plate 440 described above to translate its vertical movement into a horizontal adjustment of the second carrier plate 430 along a second axis.

For example, as shown, each second carrier plate 430 may include one or more protrusions 438 (e.g., one for each second spacing adjustment plate 450), while the second spacing adjustment plates 450 include spacing grooves 452 that lie in a second plane (e.g., have components on the second axis and the vertical axis and lie in the y-z plane). Each projection 438 mates with a separate spacing groove 452 such that the horizontal component of the spacing groove 452 controls the position of the projection 438 along the second axis as the second spacing adjustment plate 450 moves along the vertical axis. As a result, movement of the second pitch adjustment plate 450 along the vertical axis controls the position of each second carrier plate 430 along the second axis.

Further, similar to the discussion above, the spacing groove 452 may have a varying slope (shown here as being inclined toward the central portion of the second spacing adjustment plate 450) to adjust the spacing of the second carrier plate 430 along the second axis. The spacing groove 452 may then be arranged such that the chamfer tapers from the central portion to the peripheral portion. As a result, when the second pitch adjustment plate 450 moves, the central second carrier plate 430 (e.g., the central two second carrier plates) will move less than the peripheral second carrier plates 430 (e.g., the front and rear second carrier plates), thereby adjusting the pitch of the second carrier plates 430. In the illustrated embodiment, the spacing groove 452 is oriented such that the spacing of the second carrier plate 430 increases as the second spacing adjustment plate 450 moves upward and decreases as the second spacing adjustment plate 450 moves downward. However, it should be appreciated that the spacing groove 452 may be oriented in an opposite manner such that the spacing of the second carrier plate 430 decreases as the second spacing adjustment plate 450 moves upward and increases as the second spacing adjustment plate 450 moves downward.

To control the adjustment of the spacing of the extendable clamp members 470 along the second axis, the object clamp assembly 320 can further include features that control the vertical position of the second spacing adjustment plate 450. For example, in the illustrated embodiment, one or more second deployable members 464 are carried by the first carrier plate 424 (e.g., one for each second pitch adjustment plate). The second deployable member 464 is operatively coupled between the first carrier plate 424 and the corresponding second spacing adjustment plate 450 such that deployment (or retraction) of the second deployable member 464 controls the vertical position of the second spacing adjustment plate 450. As a result, the deployment (or retraction) of the second deployable member 464 controls the spacing of the second carrier plate 430 and thus the extendable clamp member 470 along the second axis.

As discussed above, each combination of the first expandable member 462, the first spacing adjustment plate 440, and the operative coupling therebetween may controllably adjust the spacing of the expandable clamping members 470. Thus, each combination is sometimes collectively referred to as a "first pitch adjustment mechanism" and/or a "first pitch adjustment member" that controls the pitch of the extendable clamping members 470 along the first axis. Similarly, the second spacing adjustment plate 450 and the second deployable member 464 discussed above are sometimes collectively referred to as a "second spacing adjustment mechanism" and/or a "second spacing adjustment member" that controls the spacing of the second carrier plate 430, and thus the extendable clamping members 470 carried thereon, along the second axis.

As further shown in fig. 4A and 4B, each extendable clamping member 470 includes an extendable body 474 and a clamping element 476 at a distal end of the extendable body 474. In various embodiments, the expandable body 474 may include various hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulic system), hydraulic struts, spring struts, torsion-driven expansion members, screw jacks, telescoping elements, telescoping rods integral with the housing, and/or any other expansion mechanism. Further, in various embodiments, the clamping element 476 may include a suction element, a vacuum port, a magnetic component, a pneumatic gripper, a mechanical gripper, and/or any other suitable element.

The deployable body 474 drives movement of the clamping element 476 in a vertical direction (e.g., along the z-axis), allowing for controlled raising and lowering of the clamping element 476. In some embodiments, each extendable clamp member 470 is independently controllable to extend and/or actuate the extendable clamp members 470, thereby allowing any suitable subset of the extendable clamp members 470 to be operated at a time. For example only, when a row and/or column of extendable gripping members 470 is not required for gripping and/or transporting a target object, the row and/or column may be omitted from the object gripping assembly 320 during operation.

To facilitate independent operation, as further shown in fig. 4A and 4B, the object clamping assembly 320 can include a plurality of on-board controllers 480 (e.g., electrical controllers, vacuum ejectors, solenoids, etc.) operatively coupled to the extendable clamping members 470. Additionally or alternatively, an onboard controller 480 may be operably coupled to each of the first and second deployable members 462, 464 to control operation thereof. In various embodiments, each onboard controller 480 may be operably coupled to a centralized controller (not shown) on the object clamping assembly 320 and/or to a centralized controller of the robotic system 100 (e.g., the controller 109 of fig. 1 with the processor 202 of fig. 2).

Fig. 5 is an isometric view of a single second carrier plate 430 showing additional detail of the first spacing adjustment component of fig. 4A and 4B. In the embodiment shown in fig. 5, the second carrier plate 430 includes two vertical mounting rails 432 and a single second mounting rail 434. Furthermore, in the illustrated embodiment, nine extendable clamp members 470 are carried by the second mounting rail 434. Each extendable clamp member 470 includes a single clamp member mounting element 472 slidably coupled to the second mounting rail 434. As a result, each extendable clamp member 470 may be movable along a first axis (e.g., along the x-axis) but fixed in position relative to the second carrier plate 430 along a vertical axis (e.g., the z-axis) and a second axis (e.g., the y-axis).

In the illustrated embodiment, a single first spacing adjustment plate 440 is slidably carried by the vertical mounting rail 432 by two adjustment plate mounting elements 444. As a result, the first spacing adjustment plate 440 is movable along the vertical axis, but fixed in position along the first and second axes. The first spacing adjustment plate 440 includes nine spacing grooves 442, each operatively coupled to a corresponding extendable clamping member 470. As described above, as the first spacing adjustment plate 440 moves, the varying slope of the spacing groove 442 adjusts the spacing of the extendable clamping members 470. In the illustrated embodiment, the single deployable member 462 is carried by the second carrier plate 430 and is operatively coupled to the first spacing adjustment plate 440. Deployment of the expandable member 462 moves the first spacing adjustment plate 440 along the vertical axis, thereby controlling the spacing of the expandable clamping members 470.

As further shown in fig. 5, the second carrier 430 may include a stop mechanism 540. In the illustrated embodiment, the stop mechanism 540 includes a first stop 542 and a second stop 544. As described in more detail below with reference to fig. 6 and 7, the first stopper 542 may serve to prevent the first spacing adjustment plate 440 from moving above a predetermined position with respect to the second carrier plate 430. As a result, the first stop 542 may set the maximum spacing of the extendable clamp members 470. Similarly, the second stopper 544 may serve to prevent the first spacing adjustment plate 440 from moving below a predetermined position relative to the second carrier plate 430. As a result, the second stop 544 may provide a minimum spacing of the extendable clamp members 470.

In some embodiments, the predetermined positions of the first stop 542 and the second stop 544 are adjustable. As a result, the minimum and/or maximum spacing of the extendable clamp members 470 may be set depending on the intended use. For example only, the minimum pitch may be set to a first operational pitch and the maximum pitch may be set to a second operational pitch. The extendable clamp member 470 may then be quickly moved between the first operational spacing and the second operational spacing by quickly lowering and raising the first spacing adjustment plate 440 into the first stop 542 and the second stop 544. In various embodiments, the stop mechanism 540 may include any other suitable number of stops (e.g., one stop, two stops, five stops, ten stops, and/or any other suitable number). Further, in various embodiments, one or more stops on the stop mechanism 540 may have a fixed position. For example only, the stop mechanism 540 may include twenty stops positioned to incrementally adjust the range of spacing of the extendable clamp members 470.

Fig. 6 and 7 are isometric views of a stop mechanism 540 for a spacing adjustment component in accordance with some embodiments of the present technique. In the illustrated embodiment, the stop mechanism 540 includes a first stop 542 and a second stop 544 (fig. 5) in fixed incremental positions to set a maximum or minimum spacing of the extendable clamp members 470. As best shown in fig. 6, each of the first stop 542 and the second stop 544 includes an adjustable slide 646 and a first engagement portion 648. Action may be taken between the engaged and disengaged positions. The adjustable slide 646 allows the first stop 542 and the second stop 544 to transition from the engaged position to the disengaged position. For example, in the embodiment shown in fig. 6, the second stop 544 is in an engaged position such that the first engagement portion 648 of the second stop 544 contacts the second engagement portion 649 carried by the first spacing adjustment plate 440 to prevent further upward movement of the first spacing adjustment plate 440. In the disengaged position, the first engagement portion 648 is not in contact with the second engagement portion 649, thereby allowing the first spacing adjustment plate 440 to move freely. As best shown in fig. 7, the adjustable slide 646 allows the first stop 542 and the second stop 544 to be quickly switched between an engaged position (e.g., a straight slide to the left) and a disengaged position (e.g., a straight slide to the right).

Fig. 8A and 8B are isometric views of a first pitch adjustment component at various pitch settings, in accordance with some embodiments of the present technique. In the illustrated embodiment, the spacing groove 442 is inclined such that raising the first spacing adjustment plate 440 decreases the spacing of the extendable clamping members 470, while lowering the first spacing adjustment plate 440 increases the spacing. For example, as shown with reference to fig. 8A, upon full retraction of the extendable member 462, the first spacing adjustment plate 440 is raised to a maximum height relative to the second carrier plate 430. As a result, the spacing of the extendable clamp members 470 is at a maximum, resulting in a close packing of the extendable clamp members 470. The illustrated configuration may be used, for example, to pick up a plurality of small, closely packed target objects and/or relatively small, heavy target objects (e.g., requiring each extendable gripping member 470 to be lifted securely). As shown with reference to fig. 8B, the first spacing adjustment plate 440 is lowered relative to the second carrier plate 430 as the extendable member 462 is extended. As a result, the spacing of the extendable clamp members 470 increases, resulting in a less dense packing of the extendable clamp members 470 as compared to fig. 8A. The arrangement shown may be used, for example, to pick up a plurality of smaller target objects and/or larger target objects (by, for example, spacing the gripping locations apart by a larger area).

However, as described above, it should be appreciated that the slope of the spacing groove 442 may be reversed such that raising the first spacing adjustment plate 440 increases the spacing of the extendable clamping members 470 and lowering the first spacing adjustment plate 440 decreases the spacing. Further, it should be appreciated that the expandable member 462 may be coupled between the second carrier plate 430 and the first spacing adjustment plate 440 at different locations such that expansion of the expandable member 462 causes the first spacing adjustment plate 440 to be raised relative to the second carrier plate 430 rather than the first spacing adjustment plate 440 to be lowered.

Suitable method of operating an object clamping assembly

Fig. 9-11 are isometric views of an object clamping assembly 320 under various operating parameters in accordance with some embodiments of the present technique. Under each of the illustrated operating parameters, the object clamping assembly 320 can be used to pick up, place, and/or transfer a plurality of target objects 912, 1012, 1112 from a first location (e.g., truck bed, packaging container, etc.) in the carriers 910, 1010, 1110 to a second location (e.g., on a conveyor belt, to a second container, etc.).

In the embodiment shown in fig. 9, the object clamping assembly 320 includes thirty-six extendable clamping members 470, while the plurality of target objects 912 includes twenty objects to be lifted from the carrier 910. Accordingly, the object clamping assembly 320 (or a controller in communication therewith, such as the controller 109 of fig. 1 having the processor 202 of fig. 2) may determine a subset of the extendable clamping members 470 to operate and a desired spacing of the subset of the extendable clamping members 470 in the first and second axes. In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable clamp members 470 to (or near) a minimum spacing along the x-axis and to (or near) a maximum spacing along the y-axis. The operating parameters also include operating every other extendable clamp member 470 along the x-axis (e.g., every other extendable clamp member 470 along a given second carrier 430). As a result of the operating parameters, a subset of the twenty extendable clamp members 470 align well to pick up multiple target objects 912 from the carrier 910. Thus, as shown, only the subset of the extendable clamp members 470 extend during operation.

However, it should be understood that the illustrated operating parameters are merely examples of suitable operating parameters for the plurality of target objects 912. In various embodiments, the range of possible spacing of the extendable clamping members 470 may be varied, allowing (or requiring) alternative adjustment of the spacing. In addition, the plurality of pitches may align a suitable subset of the extendable clamp members 470 with the plurality of target objects 912. Still further, it should be appreciated that the object clamping assembly 320 may include any other suitable number of extendable clamping members 470 that are considered by operating parameters. For example, the object clamping assembly 320 may include two, three, four, five, ten, fifteen, one hundred, one thousand, or any other suitable number of extendable clamping members 470 each taken into account by an operating parameter.

Further, in the embodiment shown in fig. 9, each extendable clamp member 470 may include an outer housing 972, an extendable rod 974 that protrudes a controlled distance from the outer housing 972, and a suction element 976 carried by a distal end of the extendable rod 974. The position of the extendable rod 974 may be controlled by any suitable hydraulic means, screw mechanism, and/or any other suitable mechanism. Further, each extendable rod 974 may place a corresponding suction element 976 in fluid communication with an actuator on the object clamping assembly 320 to control clamping of the suction element 976. However, as described above, the extendable clamp members 470 may include various other hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulic device), hydraulic struts, spring struts, twist-driven deployment members, screw jacks, and/or telescoping elements to move the clamp elements along a vertical axis. Similarly, as described above, the gripping element may include another suction element, a vacuum port, a magnetic component, a pneumatic gripper, a mechanical gripper, and/or any other suitable element.

In the embodiment shown in fig. 10, the object clamping assembly 320 includes thirty-six expandable clamping members 470 and the plurality of target objects 1012 includes thirty-six objects. Further, the carrier 1010 is configured with a relatively dense packing of multiple target objects 1012. The object clamping assembly 320 (or a controller in communication therewith, such as the controller 109 of fig. 1 having the processor 202 of fig. 2) may determine a subset of the extendable clamping members 470 to operate and a desired spacing of the subset of the extendable clamping members 470 in the first and second axes. As shown in fig. 10, a subset of the extendable clamp members 470 may include all of the extendable clamp members 470.

In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable clamp members 470 to a mid-range spacing along the x-axis and to (or near) a minimum spacing along the y-axis. The operating parameters also include operating each extendable gripping member 470 on the object gripping assembly 320. As a result of the operating parameters, each extendable gripping member 470 is well aligned to pick up a corresponding target object from the carrier 1010. Thus, as shown, all of the extendable gripping members 470 on the object gripping assembly 320 are operated simultaneously.

In the embodiment shown in fig. 11, the object clamping assembly 320 includes thirty-six extendable clamping members 470, while the plurality of target objects 1112 includes thirty-two objects to be picked from the carrier 1110. The object clamping assembly 320 (or a controller in communication therewith, such as the controller of fig. 1 having the processor 202 of fig. 2) may determine a subset of the extendable clamping members 470 to operate and a desired spacing of the subset of the extendable clamping members 470 in the first and second axes.

In the illustrated embodiment, the operating parameters include adjusting the spacing of the extendable clamp members 470 to (or near) a maximum spacing along the x-axis and to (or near) a minimum spacing along the y-axis. The operating parameters also include the omission of a single extendable clamping member 470 from the longitudinal end of each second carrier 430. As a result of the operating parameters, a subset of thirty-two extendable clamp members 470 are well aligned to pick up a corresponding target object from the carrier 1110. Thus, as shown, only the subset of the extendable clamp members 470 extend during operation.

Fig. 12 is a flow chart of a process 1200 for operating an object clamping assembly (e.g., object clamping assembly 320 of fig. 3) under various operating parameters in accordance with some embodiments of the present technique. The process 1200 may be performed by a controller on the object clamping assembly itself (e.g., one of the onboard controllers 480 discussed above with reference to fig. 4) and/or an external controller (e.g., the controller 109 of fig. 1 having the processor 202 of fig. 2).

Process 1200 begins at block 1202 with determining which extendable gripping members to operate. In some embodiments, the determination is based on an image and/or scan of one or more target objects and/or carriers. In some embodiments, the determination is based on received information about one or more target objects and/or carriers (e.g., information about the weight of the target objects, the distribution of the target objects, the surface texture of the target objects, or any other information that may affect the gripping elements, and/or any other suitable information). In some embodiments, the determining includes planning multiple passes and determining which extendable gripping members to operate at each pass.

At block 1204, process 1200 includes determining a desired spacing of the operating extendable clamp members in a first direction (e.g., along a first axis, such as an x or y axis). As described above, determining the spacing in the first direction may be based on the image, the scan, and/or any other information received regarding the one or more target objects and/or the carrier. Further, in some embodiments, determining the spacing is based at least in part on determining which extendable gripping members to operate. For example, determining the spacing may be based at least in part on determining that only a subset of the extendable gripping members are operated. In another example, determining the spacing and determining which extendable gripping members to operate may be performed simultaneously (e.g., determining which extendable gripping members to operate may be based in part on which spacing is available for different subsets of extendable gripping members). In some embodiments, the process 1200 includes independently determining a desired spacing of the extendable gripping members for each second carrier plate (e.g., the spacing of the extendable gripping members on a preceding carrier plate may be less than the extendable gripping members on a following carrier plate).

At block 1206, the process 1200 includes retracting or extending one or more first expandable members (e.g., the first expandable member 462 of fig. 4A) to set the spacing of the expandable gripping members to (or near) a desired spacing in a first direction. In some embodiments, the spacing is monitored by the imaging component and/or other sensor. In some such embodiments, the first deployable member is deployed (or retracted) until a desired spacing is obtained. In some embodiments, the relationship between the state of the first deployable member and the pitch is known, and the deployable member is deployed (or retracted) without monitoring until the desired pitch is obtained.

At block 1208, process 1200 includes determining a desired spacing of the extendable clamp members in a second direction (e.g., along a second axis, such as a y or x axis) that is at least partially orthogonal to the first direction. Similar to the pitch determination in the first direction, the pitch determination in the second direction may be based on images, scans, and/or any other information received regarding one or more target objects and/or carriers. Further, in some embodiments, determining the spacing is based at least in part on determining which extendable gripping members to operate (e.g., based at least in part on determining only a subset of the extendable gripping members to operate, simultaneous with determining which subset of the extendable gripping members to operate, etc.).

At block 1210, the process 1200 includes retracting or extending one or more second deployable members (e.g., the second deployable member 464 of fig. 4A) to set (or close to) the spacing of the extendable gripping members to a desired spacing in a second direction. As described above, in some embodiments, the spacing is monitored by the imaging component and/or other sensor. In some such embodiments, the first deployable member is deployed (or retracted) until a desired spacing is obtained. In some embodiments, the relationship between the state of the first deployable member and the pitch is known, and the deployable member is deployed (or retracted) without monitoring until the desired pitch is obtained.

At block 1212, process 1200 includes operating the extendable clamp members at a set pitch. That is, at block 1212, the process 1200 includes the extension and/or actuation process determining at block 1202 a subset of the extendable gripping members to operate for picking up, lowering, and/or transferring one or more target objects.

Since each extendable gripping member may be independently actuated to grip and/or release a target object, a subset of target objects gripped by the extendable gripping members may be selectively released at a destination. That is, for example, process 1200 may extend a first subset of the extendable gripping members at a set pitch and actuate the first subset to pick up a target object at a pick-up location. Process 1200 may then actuate the second, third, fourth, etc. subset to selectively release the target object at one or more launch positions. In another example, process 1200 may extend a first subset of the extendable gripping members at a set pitch and actuate the first subset to pick up a target object at a first pick-up location, and then actuate a second subset of the extendable gripping members at the set pitch and actuate the second subset to pick up the target object at a second pick-up location. In some embodiments, the spacing is not adjusted between the two pick-up locations. In other embodiments, the spacing is adjusted between the two pick-up locations, allowing the process 1200 to accommodate multiple spacings in a single operation. In some implementations, each of the two sets of desired pitches is determined at blocks 1204 and 1208, such that process 1200 may then re-perform blocks 1206 and 1210 without additional determination to adjust the pitch. In some implementations, the process 1200 re-performs blocks 1204-1210 between the first pick-up location and the second pick-up location.

In some embodiments, the selective operation enables the object holding assembly 320 (fig. 3) to act as a buffer to temporarily hold a subset of the target objects. For example, the robotic system may receive commands to pick up different target objects and place a combination of different target objects in groups at two or more different launch positions. In another example, the robotic system may receive commands to pick up a target object and sequentially place a combination of target objects, allowing another component of the robotic system to pick up and/or otherwise move a subset of the picked target objects, and then place another subset without the object clamping assembly 320 (fig. 3) performing multiple pick operations.

It should be appreciated that in some implementations, one or more of blocks 1202-1210 may be combined, performed in a different order, and/or omitted altogether. For example only, determining which extendable gripping members to operate may include determining a desired spacing in the first and/or second directions. That is, determining which extendable gripping members to operate may include determining what spacing the extendable gripping members to operate should be. Thus, in such an embodiment, process 1200 may omit blocks 1204 and 1208 to avoid redundant determination. In another example, the process may perform blocks 1208 and 1210 before blocks 1204 and 1206 and/or perform block 1208 before block 1206. In yet another example, blocks 1204 and 1208 may be performed concurrently and/or in parallel to determine a desired spacing of the extendable clamp members in the first and second directions concurrently. Similarly, blocks 1206 and 1210 occur simultaneously and/or in parallel to set the spacing of the extendable clamp members to (or near) a desired spacing in the first and second directions simultaneously.

Fig. 13 is a flow chart of a process 1300 for setting minimum and/or maximum spacing parameters of an object clamping assembly in accordance with some embodiments of the present technique. Similar to the process 1200 discussed above with reference to fig. 12, the process 1300 may be performed by a controller on the object clamping assembly itself (e.g., one of the onboard controllers 480 discussed above with reference to fig. 4) and/or an external controller (e.g., the controller 109 of fig. 1 with the processor 202 of fig. 2). Process 1300 is discussed herein with reference to one or more second deployable members 464 discussed above with reference to fig. 4. As described above, the second deployable member is operatively coupled to the second carrier plate to set a spacing of the second carrier plate. However, it should be appreciated that a similar process may be performed for the first expandable member to set the minimum and/or maximum spacing parameters of the expandable gripping members on any given second carrier plate.

Process 1300 begins at block 1302 with deploying a second deployable member within a desired range of the second deployable member. As a result, the pitch of the second carrier plate is reduced below the desired maximum pitch. In some implementations, the second deployable member is already within a desired range, allowing the process 1300 to skip block 1302.

At block 1304, the process 1300 includes placing a first stop mechanism in an engaged position to prevent the second deployable member from retracting beyond a first desired point, thereby preventing the actual spacing from increasing beyond a desired maximum value. In some implementations, the desired maximum value may represent the greater of the two or more operational pitches. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the spacing to a larger operational spacing by preventing the second deployable member from retracting beyond the first desired point. For example, the second deployable member may be quickly retracted and stopped by the first stop mechanism rather than requiring careful retraction and accurate stopping.

At block 1306, the process 1300 includes retracting the second expandable member within a desired range of the expandable member. As a result, the pitch of the second carrier plate increases below the minimum pitch. In some implementations, the second expandable member is already within the desired range, allowing process 1300 to skip block 1306.

At block 1308, the process 1300 includes placing the second stop mechanism in an engaged position to prevent the second deployable member from deploying beyond a second desired point, thereby preventing the actual spacing from decreasing beyond a desired minimum. In some implementations, the desired minimum value may represent the smaller of the two or more operational pitches. In such embodiments, the first stop mechanism allows the object gripping assembly to quickly switch the spacing to a smaller operational spacing by preventing the second deployable member from deploying beyond the second desired point. For example, the deployable member may be quickly retracted and stopped by the second stop mechanism rather than requiring careful retraction and accurate stopping.

At block 1310, the process 1300 includes operating the object clamping assembly within a desired range. As described above, during operation, the first and second stop mechanisms prevent movement of the second deployable member, thereby allowing the object clamp assembly to quickly switch between a minimum value and a maximum value. In a particular non-limiting example, the object clamping assembly can have two operational pitches for a particular item. The first desired point may correspond to a larger value of the two operational pitches, while the second first desired point may correspond to a smaller of the two operational pitches. In such embodiments, the first and second stop mechanisms may accelerate the operation of the object clamping assembly by allowing the object clamping assembly to switch between the two operating spacings quickly (e.g., by eliminating the need for a slow alignment process or a process that accelerates the slow alignment process at each change). The first and second stop mechanisms may also prevent the spacing from increasing (or decreasing) beyond a desired point based on space constraints. For example only, the maximum spacing may be set to prevent the spacing from encroaching on the space constraints of the carrier.

Further, as described above, each extendable gripping member may be independently operable, allowing the extendable gripping members to be extended and/or actuated to independently grip and/or release a target object. As a result, a subset of the target objects held by the extendable gripping members may be selectively released at any given destination, and/or any subset of the extendable gripping members may be operated at a given pick-up location to pick up the target objects.

At block 1312, the process 1300 includes placing the first and second stop mechanisms in a disengaged position and/or resetting the first and second stop mechanisms. Once moved to the disengaged position, the first and second stop mechanisms do not obstruct movement of the second deployable member, thereby returning the second deployable member to the full range of motion.

It should be appreciated that in some implementations, one or more of blocks 1302-1310 may be combined, performed in a different order, and/or omitted altogether. For example only, as described above, either of blocks 1302 or 1306 may be omitted when the second deployable member is already within the desired range. In another example, process 1300 may include only providing a single stop mechanism (e.g., setting a maximum spacing based on space requirements), and thus omitting blocks 1306 and 1308. In yet another example, when the second deployable member is already within the desired range, the process may combine blocks 1304 and 1308 to simultaneously set the first and second stop mechanisms. Further, in yet another example, process 1300 may perform blocks 1306 and 1308 prior to blocks 1302 and 1304 to engage a second stop mechanism prior to engaging the first stop mechanism.

Example

For example, the present technology is illustrated in accordance with various aspects described below. For convenience, various examples of aspects of the present technology are described as numbered examples (1, 2, 3, etc.). These examples are provided as examples and do not limit the present technology. It should be noted that any of the subordinate examples may be combined in any suitable manner and placed in respective independent examples. Other examples may be presented in a similar manner.

1. An object clamping assembly, the object clamping assembly comprising:

the first bearing plate is provided with a first bearing plate, the first carrier plate has:

An upper surface including a flange configured to be coupled to a robotic arm, and

A lower surface opposite the upper surface, the lower surface including at least one first mounting rail extending along a first axis on the lower surface;

A plurality of second carrier plates slidably carried by the at least one first mounting rail on the first carrier plate, wherein each of the plurality of second carrier plates comprises:

At least one second mounting rail extending along a second axis at least partially orthogonal to the first axis, and

A plurality of extendable clamp members slidably carried by the at least one second mounting rail;

A first adjustment plate operatively coupled to the plurality of second carrier plates to adjust the spacing of the plurality of second carrier plates on the first axis, and

A plurality of second adjustment plates, each of the plurality of second adjustment plates carried by a corresponding second carrier plate and operatively coupled to the plurality of extendable clamp members on the corresponding second carrier plate to adjust a spacing of the plurality of extendable clamp members on the second axis.

2. The object clamping assembly of example 1, further comprising a deployable member operatively coupled to the first adjustment plate and the first carrier plate to adjust a position of the first adjustment plate relative to the first carrier plate.

3. The object clamping assembly of example 2, wherein adjusting the position of the first adjustment plate relative to the first carrier plate varies a spacing of the plurality of second carrier plates along the first axis.

4. The object clamping assembly of any of examples 1-3, wherein:

Each of the plurality of second carrier plates further includes at least one vertical mounting rail extending on a vertical axis at least partially orthogonal to the first axis and the second axis;

Each of the plurality of second adjustment plates being slidably carried by the at least one vertical mounting rail on the corresponding second carrier plate, and

The object clamping assembly also includes a plurality of deployable members, each of the plurality of deployable members operably coupled to a corresponding second adjustment plate and the corresponding second carrier plate to adjust a position of the corresponding second adjustment plate relative to the corresponding second carrier plate.

5. The object clamping assembly of example 4, wherein adjusting the position of the corresponding second adjustment plate relative to the corresponding second carrier plate varies a spacing of the plurality of extendable clamping members along the second axis.

6. The object clamping assembly of any of examples 1-5, wherein each of the plurality of second carrier plates further comprises a sliding stop operable between an engaged position and a disengaged position, wherein in the engaged position the sliding stop prevents the corresponding second adjustment plate from moving beyond a predetermined position.

7. The object clamping assembly of any of examples 1-6, wherein each of the plurality of extendable clamping members comprises:

an extendable assembly having a proximal end slidably carried by the at least one second mounting rail and a distal end opposite the proximal end, and

A gripping element carried by the distal end, wherein the extendable assembly is configured to extend and retract along a vertical axis that is at least partially orthogonal to the first axis and the second axis.

8. The object clamping assembly of any of examples 1-7, wherein each of the plurality of extendable clamping members is independently extendable.

9. The object clamping assembly of any of examples 1-8, wherein one or more of the plurality of extendable clamping members includes a distal end and a clamping element at the distal end, the clamping element including one or more of a suction element, a vacuum port, a magnetic member, a pneumatic gripper, or a mechanical gripper.

10. A method of operating an object clamping assembly having a plurality of independently operable clamping members, the method comprising:

Determining a set of the plurality of clamping members to be operated during a clamping operation;

determining a first desired spacing of the set of the plurality of clamping members along a first axis;

determining a second desired spacing of the set of the plurality of clamping members along a second axis at least partially orthogonal to the first axis;

generating a command for operating a first deployable member along a third axis at least partially orthogonal to the first axis and the second axis, wherein operating the first deployable member adjusts a first actual spacing of at least a portion of the set of the plurality of clamping members along the first axis toward the first desired spacing, and

A command is generated for operating a second deployable member along the third axis, wherein operating the second deployable member adjusts a second actual pitch of the set of the plurality of clamping members along the first axis toward the first desired pitch.

11. The method of example 10, wherein each of the plurality of clamp members includes a deployable body, and wherein the method further comprises generating a command for each of the clamp members in the set of the plurality of clamp members to extend the deployable body.

12. The method of any of examples 10-11, wherein the clamping operation is a first clamping operation and the set of the plurality of clamping members is a first set, and wherein the method further comprises:

Determining a second set of the plurality of clamping members that are operated during a second clamping operation;

Determining a third desired spacing of the second set of the plurality of clamping members along the first axis;

determining a fourth desired spacing of the second set of the plurality of clamping members along the second axis;

Generating a command for further operating the first deployable member along the third axis, wherein further operating the first deployable member adjusts a third actual pitch of at least a portion of the second set of the plurality of clamping members along the first axis toward the third desired pitch, and

Generating a command for further operating the second deployable member along the third axis, wherein further operating the second deployable member adjusts a fourth actual pitch of the second set of the plurality of clamping members along the first axis toward the fourth desired pitch.

13. The method of example 12, determining the second set of the plurality of clamp members includes determining the second set of the plurality of clamp members that is different from those clamp members in the first set of the plurality of clamp members.

14. The method of any of examples 10-13, the method further comprising:

Generating a command for lowering the set of the plurality of gripping members towards one or more objects to be moved;

generating commands for operating the set of the plurality of gripping members to attach to the one or more objects, and

Raising the set of the plurality of gripping members while the set of the plurality of gripping members is attached to the one or more objects.

15. The method of any of examples 10-14, further comprising generating a command to position a slidable stop to prevent the first deployable member from deploying beyond a predetermined position prior to operating the first deployable member along the third axis.

16. A robotic system, the robotic system comprising:

Mechanical arm, and

An object clamping assembly carried by the robotic arm, the object clamping assembly comprising:

a first carrier plate having a first mounting rail extending along a first axis;

two or more second carrier plates, the two or more second carrier plates are movably carried by the first mounting rail, wherein each of the two or more second carrier plates comprises:

a second mounting rail extending along a second axis at least partially orthogonal to the first axis, and

Two or more extendable gripping members, the two or more extendable gripping members are movably carried by the second mounting rail on the second carrier plate;

a first spacing adjustment component operatively coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component configured to controllably vary a first spacing between the two or more second carrier plates along the first mounting rail;

Two or more second spacing adjustment members operatively coupled to the corresponding second carrier plate and the two or more extendable clamp members carried by the second mounting rail, each of the two or more second spacing adjustment members configured to controllably vary a second spacing between the two or more extendable clamp members along the second mounting rail.

17. The robotic system of example 16, wherein the first pitch adjustment component comprises:

a spacing adjustment plate having two or more grooves operatively coupled to the two or more second carrier plates, wherein the two or more grooves are oriented partially along the first axis, and wherein the position of the spacing adjustment plate relative to the first carrier plate at least partially positions the two or more second carrier plates operatively coupled to the two or more grooves, and

A deployable member operatively coupled to the first carrier plate and the spacing adjustment plate, wherein deployment and retraction of the deployable member changes a position of the spacing adjustment plate relative to the first carrier plate.

18. The robotic system of any one of examples 16-17, wherein each of the two or more second pitch adjustment members comprises:

A spacing adjustment plate having two or more grooves operatively coupled to the two or more extendable clamping members, wherein the two or more grooves are oriented partially along the second axis, and wherein the position of the spacing adjustment plate relative to the corresponding second carrier plate at least partially positions the two or more extendable clamping members operatively coupled to the two or more grooves, and

A deployable member operatively coupled to the corresponding second carrier plate and the spacing adjustment plate, wherein deployment and retraction of the deployable member changes a position of the spacing adjustment plate relative to the corresponding second carrier plate.

19. The robotic system of any of examples 16-18, wherein each of the two or more extendable gripping members on each of the two or more second carrier plates is independently extendable.

20. The robotic system of any of examples 16-19, wherein each of the two or more extendable gripping members on each of the two or more second carrier plates includes a distal end and at least one of a gripping element at the distal end, the gripping element including one or more of a suction element, a vacuum port, a magnetic member, a pneumatic gripper, or a mechanical gripper.

21. The robotic system of any one of examples 16-19, further comprising a processor operably coupled to the robotic arm and/or the object gripping assembly.

22. The robotic system of example 21, wherein the processor is configured to:

Determining a set of the plurality of two or more extendable clamping elements to operate during a clamping operation;

determining a desired spacing of the set of two or more extendable clamping elements along the first axis, and

The first spacing adjustment means is operable to adjust the actual spacing of the set of the two or more extendable gripping elements towards the desired spacing.

23. The robotic system of any one of examples 21 and 22, wherein the processor is configured to:

determining a set of the plurality of two or more extendable clamping elements on each of the second carrier plates to be operated during a clamping operation;

Determining a desired spacing of the set of two or more extendable clamping elements along the second axis, and

The second pitch adjustment component is operable to adjust an actual pitch of the set of the two or more extendable gripping elements toward the desired pitch.

24. An object clamping assembly, the object clamping assembly comprising:

A plurality of extendable gripping elements carried by the second mounting rail on the second carrier plate;

A first spacing adjustment component operatively coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component configured to controllably adjust a first spacing of the plurality of expandable clips along the first axis;

A second spacing adjustment component operatively coupled to a corresponding second carrier plate and the two or more extendable clamping elements carried by the second mounting rail, the second spacing adjustment component configured to controllably adjust a second spacing of the plurality of extendable clamping elements along the second axis.

25. An object clamping assembly, the object clamping assembly comprising:

A first bearing plate;

A plurality of second load bearing plates carried by the first plate, wherein each of the plurality of second load bearing plates comprises:

a mounting rail extending along a horizontal axis;

A plurality of extendable clamping elements movably carried by the mounting rail on the second carrier plate, and

A plurality of spacing adjustment members, each of the plurality of spacing adjustment members being operatively coupled to a corresponding second carrier plate and the two or more extendable clamp elements carried by the corresponding second carrier plate, wherein each of the plurality of spacing adjustment members being operatively configured to controllably adjust spacing of the plurality of extendable clamp elements along the horizontal axis.

26. The object clamping assembly of example 25, wherein each of the plurality of spacing adjustment components operable includes:

A spacing adjustment plate having a plurality of grooves operatively independently coupled to the plurality of expandable gripping elements carried by a corresponding second carrier plate, wherein the spacing adjustment plate positions at least partially the plurality of expandable gripping elements operatively coupled to the plurality of further grooves relative to the corresponding second carrier plate, and

27. The object clamping assembly of any of examples 25-26, wherein each of the plurality of extendable clamping elements on each of the plurality of second carrier plates is independently extendable.

28. The object clamping assembly of any of examples 25-27, wherein the first carrier plate includes a flange coupleable to a robotic positioning system, and wherein the flange includes one or more communication channels operably coupled to the plurality of pitch adjustment members.

29. The object clamp assembly of any of examples 25-28, further comprising a controller carried by the first mounting plate, wherein the controller is operably coupled to each of the plurality of extendable clamp elements and each of the plurality of spacing adjustment members.

Conclusion(s)

From the foregoing, it will be appreciated that specific embodiments of the technology have been described herein for purposes of illustration, but that well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the technology. If any material incorporated by reference herein conflicts with the present disclosure, the present disclosure controls. Where the context allows, singular or plural terms may also include the plural or singular terms, respectively. Further, unless the term "or" is expressly limited to refer to only a single item that differs from other items in two or more lists of items, the use of "or" in such a list should be interpreted to include any single item in the list (a), (b) all items in the list, or (c) any combination of items in the list. Furthermore, as used herein, the phrase "and/or" in "a and/or B" refers to a alone, B alone, and both a and B. In addition, the terms "comprising," "including," "having," and "with" are used throughout to denote including at least the recited features, so as not to exclude any further numbers of other features of the same feature and/or additional types.

From the foregoing, it will also be appreciated that various modifications may be made without departing from the disclosure or techniques. For example, those of ordinary skill in the art will understand that the various components of the present technology may be further divided into subcomponents, or that the various components and functions of the present technology may be combined and integrated. Furthermore, certain aspects of the present technology described in the context of particular embodiments may also be combined or eliminated in other embodiments. Moreover, while advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments must exhibit such advantages to fall within the scope of the technology. Accordingly, the present disclosure and related techniques may encompass other embodiments not explicitly shown or described herein.

Claims

1. An object clamping assembly, comprising:

A first supporting plate, wherein the first supporting plate comprises:

an upper surface comprising a flange configured to be connected to a robotic arm; and

a lower surface, the lower surface opposite the upper surface, the lower surface comprising at least one first mounting track extending along a first axis on the lower surface;

a plurality of second carrier plates slidably carried by the at least one first mounting track on the first carrier plate, wherein each of the plurality of second carrier plates comprises:

at least one second mounting rail extending along a second axis at least partially orthogonal to the first axis;

a plurality of extendable clamping members slidably carried by the at least one second mounting track; and

a slide stop operable between an engaged position and a disengaged position;

a first spacing adjustment plate operably coupled to the plurality of second carrier plates to adjust a spacing of the plurality of second carrier plates on the first axis; and

a plurality of second spacing adjustment plates, each of which is carried by a corresponding second carrier plate and operably connected to the plurality of extendable clamping members on the corresponding second carrier plate to adjust the spacing of the plurality of extendable clamping members on the second axis, wherein in the engaged position, the sliding stopper on each of the plurality of second carrier plates prevents the corresponding second spacing adjustment plate from moving beyond a predetermined position.

2. The object clamping assembly of claim 1, further comprising an expandable member operably coupled to the first spacing adjustment plate and the first carrier plate to adjust a position of the first spacing adjustment plate relative to the first carrier plate.

3. The object clamping assembly of claim 2, wherein adjusting the position of the first spacing adjustment plate relative to the first carrier plate changes the spacing of the plurality of second carrier plates along the first axis.

4. The object holding assembly of claim 1, wherein:

Each of the plurality of second spacing adjustment plates is slidably carried by the at least one vertical mounting track on the corresponding second carrier plate; and

The object clamping assembly further includes a plurality of deployable members, each of which is operably coupled to a corresponding second spacing adjustment plate and the corresponding second carrier plate to adjust a position of the corresponding second spacing adjustment plate relative to the corresponding second carrier plate.

5. The object clamping assembly of claim 4, wherein adjusting the position of the corresponding second spacing adjustment plate relative to the corresponding second carrier plate changes the spacing of the plurality of extendable clamping members along the second axis.

6. The object clamping assembly of claim 1, wherein each of the plurality of extendable clamping members comprises:

an extendable body having a proximal end slidably carried by the at least one second mounting rail and a distal end opposite the proximal end; and

A gripping element is carried by the distal end, wherein the extendable body is configured to extend and retract along a vertical axis at least partially orthogonal to the first axis and the second axis to adjust a position of the gripping element along the vertical axis.

7. The object clamping assembly of claim 1, wherein each of the plurality of extendable clamping members is independently extendable.

8. An object clamping assembly as described in claim 1, wherein one or more of the multiple extendable clamping components include a distal end and a clamping element at the distal end, and the clamping element includes one or more of the following: a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a mechanical gripper.

9. A method of operating an object holding assembly having a plurality of independently operable holding members, the method comprising:

determining a set of the plurality of clamping components for operation during a clamping operation;

generating a command for positioning a slidable stop to prevent a first deployable member from deploying beyond a predetermined position prior to operating the first deployable member along a third axis, the third axis being at least partially orthogonal to the first axis and the second axis;

generating a command for operating a first expandable member along the third axis, wherein operating the first expandable member adjusts a first actual spacing of at least a portion of the set of the plurality of gripping members along the first axis toward the first desired spacing; and

A command is generated for operating a second expandable member along the third axis, wherein operating the second expandable member along the second axis adjusts a second actual spacing of the set of the plurality of gripping members toward the second desired spacing.

10. The method of claim 9, wherein each of the plurality of clamping members comprises an expandable body, and wherein the method further comprises generating a command for each of the clamping members in the set of the plurality of clamping members to extend the expandable body.

11. The method of claim 9, wherein the clamping operation is a first clamping operation and the group of the plurality of clamping members is a first group, and wherein the method further comprises:

determining a second group of the plurality of clamping components to operate during a second clamping operation;

generating a command for further operating the first expandable member along the third axis, wherein further operating the first expandable member along the first axis adjusts a third actual spacing of at least a portion of the second set of the plurality of gripping members toward the third desired spacing; and

A command is generated for further operating the second expandable member along the third axis, wherein further operating the second expandable member along the second axis adjusts a fourth actual spacing of the second set of the plurality of gripping members toward the fourth desired spacing.

12. The method of claim 11, wherein determining the second group of the plurality of clamping members comprises determining the second group of the plurality of clamping members different from those in the first group of the plurality of clamping members.

13. The method of claim 9, further comprising:

generating a command for lowering the set of the plurality of gripping members toward one or more objects to be moved;

generating commands for operating the set of the plurality of gripping members to attach to the one or more objects; and

A command is generated for raising the set of the plurality of gripping members while the set of the plurality of gripping members is attached to the one or more objects.

14. A robot system, comprising:

Robotic arms; and

An object gripping assembly, the object gripping assembly being attached to the robotic arm, the object gripping assembly comprising:

a first carrier plate having a first mounting track extending along a first axis;

Two or more second carrier plates, the two or more second carrier plates being movably carried by the first mounting rail, wherein each of the two or more second carrier plates comprises:

a second mounting rail extending along a second axis at least partially orthogonal to the first axis;

two or more extendable clamping members movably carried by the second mounting track on the second carrying plate; and

a slide stop slidably operable between an engaged position and a disengaged position;

a first spacing adjustment component operably coupled to the first carrier plate and the two or more second carrier plates, the first spacing adjustment component being configured to controllably change a first spacing between the two or more second carrier plates along the first mounting track;

Two or more second spacing adjustment components, the two or more second spacing adjustment components are operably connected to the corresponding second carrier plate and the two or more extendable clamping components carried by the second mounting track, each of the two or more second spacing adjustment components is configured to controllably change the second spacing between the two or more extendable clamping components along the second mounting track, wherein in the engaged position, the sliding stop on each of the two or more second carrier plates prevents the corresponding second spacing adjustment component from moving beyond a predetermined position.

15. The robot system of claim 14, wherein the first spacing adjustment component comprises:

a spacing adjustment plate having two or more grooves operably coupled to the two or more second carrier plates, wherein the two or more grooves are partially oriented along the first axis, and wherein a position of the spacing adjustment plate relative to the first carrier plate at least partially positions the two or more second carrier plates operably coupled to the two or more grooves; and

An expandable member is operably coupled to the first carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes a position of the spacing adjustment plate relative to the first carrier plate.

16. The robot system of claim 14, wherein each of the two or more second spacing adjustment components comprises:

a spacing adjustment plate having two or more grooves operably coupled to the two or more extendable clamping members, wherein the two or more grooves are partially oriented along the second axis, and wherein the position of the spacing adjustment plate relative to the corresponding second carrier plate at least partially positions the two or more extendable clamping members operably coupled to the two or more grooves; and

An expandable member is operably coupled to the corresponding second carrier plate and the spacing adjustment plate, wherein expansion and retraction of the expandable member changes the position of the spacing adjustment plate relative to the corresponding second carrier plate.

17. The robotic system of claim 14, wherein each of the two or more extendable gripping members on each of the two or more second carrier plates is independently extendable.

18. The robotic system of claim 14, wherein each of the two or more extendable clamping members on each of the two or more second supporting plates comprises a distal end and at least one of a clamping element at the distal end, the clamping element comprising one or more of: a suction element, a vacuum port, a magnetic member, a pneumatic gripper, or a mechanical gripper.