ACCESSORY MOUNTING SYSTEM FOR A ROBOT

An example system includes an apparatus (i) configured for connection to a robot or (ii) integrated into the robot. The apparatus includes at least one structure configured for connection to one or more corresponding accessories. The at least one structure includes (i) a protrusion that extends outwardly relative to a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot. The at least one structure may include one or more faces that are tapered such that each of the one or more faces decreases in width farther away from the surface associated with the robot.

TECHNICAL FIELD

This specification describes examples of an accessory mounting system for a robot, such as a robotic arm.

BACKGROUND

A robot, such as a robotic arm, is configured to control an end effector to interact with the environment. An example end effector is an accessory that the robot uses to perform an operation.

An example robotic arm is a computer-controlled robot that is capable of moving in multiple degrees of freedom. The robotic arm may be supported by a base and may include one or more links interconnected by joints. The joints may be configured to support rotational motion and/or translational displacement relative to the base. A tool flange may be on an opposite end of the robotic arm from the base. The tool flange contains an end effector interface. The end effector interface enables an accessory to connect to the robotic arm. In an example operation, the joints are controlled to position the robotic arm to enable the accessory to implement a predefined operation. For instance, if the accessory is a welding tool, the joints may be controlled to position, and thereafter to reposition, the robotic arm so that the welding tool is at successive locations where welding is to be performed on a workpiece. The end effector interface is generally limited to connecting to a single accessory.

SUMMARY

An example system includes an apparatus (i) configured for connection to a robot or (ii) integrated into the robot. The apparatus includes at least one structure configured for connection to one or more corresponding accessories. The at least one structure includes (i) a protrusion that extends outwardly relative to a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot. The at least one structure may include one or more faces that are tapered such that each of the one or more faces decreases in width farther away from the surface associated with the robot. The example system may include one or more of the following features, either alone or in combination.

The robot may include an end effector interface configured to connect to an end effector. The at least one structure may be adjacent to the end effector interface. The at least one structure may include a protrusion that is configured to mate to a feature on an accessory among the accessories. The at least one structure may include an indentation that is configured to mate to a feature on an accessory among the accessories.

The apparatus may be configured for connection to the robot. The apparatus may include a collar that fits around at least part of the robot. The collar may include the structures. The collar may include multiple parts. Each of the multiple parts may include an interface for connection to another one of the multiple parts. The apparatus may be integrated into the robot such that the structures are part of a link or joint included in the robot.

The at least one structure comprising the protrusion may have a pyramidal shape. The pyramidal shape may have three or more faces. The at least one structure comprising the indentation may have an inverse pyramidal shape. The inverse pyramidal shape may have three or more faces.

The robot may include a first end effector interface configured to connect to an end effector. The apparatus may include a connection interface configured to connect to the end effector interface. The apparatus may include a second end effector interface having a same configuration as the first end effector interface. The second end effector interface may be on a different surface of the apparatus than the connection interface. The second end effector interface may be on an opposite surface of the apparatus than the connection interface.

The at least one structure may include (i) a protrusion that extends outwardly from a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot. The at least one structure may include faces that are tapered such that each of the faces decreases in width farther away from the surface associated with the robot.

The apparatus may include a first apparatus. The at least one structure may include first structures. The accessories may include first accessories. The surface associated with the robot may include a first surface. The one or more faces may be first faces. The system may include one or more additional apparatus (i) configured for connection to the robot or (ii) integrated into the robot. The one or more additional apparatus may each include second structures configured for connection to one or more corresponding second accessories. Each of the second structures may include (i) a protrusion that extends outwardly relative to a second surface associated with the robot or (ii) an indentation that extends inwardly relative to the second surface associated with the robot. Each of the second structures may include one or more second faces that are tapered such that each of the one or more second faces decreases in width farther away from the second surface associated with the robot. The one or more additional apparatus may be (i) configured for connection to (ii) or integrated into one or more respective robot links or joints. The one or more respective robot links or joints may be different from a robot link or joint adjacent to the end effector interface.

The apparatus may be rotatable based on rotation of a robot joint. The apparatus may be three-dimensionally (3D) printed, die-cast, or machined.

An example robotic system includes a robot and an apparatus (i) configured for connection to the robot or (ii) integrated into the robot. The apparatus may include one or more structures configured for connection to one or more corresponding accessories. Each of the one or more structures may include (i) a protrusion that extends outwardly relative to a surface associated with the robot or (ii) an indentation that extends inwardly relative associated with the surface associated with the robot. Each of the one or more structures may include one or more faces that are tapered such that each of the one or more faces decreases in width farther away from the surface associated with the robot.

The one or more corresponding accessories may include one or more of: a mechanical gripper, a vacuum gripper, a magnetic gripper, a screwing machine, a reverse screwing machine, welding equipment, gluing equipment, a liquid or solid dispensing system, painting equipment, a visual system, a camera, a scanner, a wire holder, a tubing holder, a belt feeder, or polishing equipment.

The robot may include a robotic arm. The robotic arm may include a base, an end effector, an accessory included among the accessories, where the accessory is connected to one or more of the structures; and links or joints between the base and the end effector. An instance of the apparatus may be connected to, or integrated into, at least one of the links or joints.

The accessory may be a first accessory and the robotic system further include a second structure that attaches to the first accessory to enable stacking a second accessory on the first accessory, the second structure having a pyramidal shape comprised of tapered faces. Ones of the links each may include at least one of the apparatus.

Any two or more of the features described in this specification, including in this summary section, may be combined to form implementations not specifically described in this specification.

At least part of the robots, systems, and techniques described in this specification may be configured or controlled by executing, on one or more processing devices, machine-executable instructions that are stored on one or more non-transitory machine-readable storage media. Examples of non-transitory machine-readable storage media include read-only memory, an optical disk drive, memory disk drive, and random access memory. The robots, systems, techniques, apparatus, and structures described in this specification may be configured, for example, through design, construction, composition, arrangement, placement, programming, operation, activation, deactivation, and/or control.

The details of one or more implementations are set forth in the accompanying drawings and the following description. Other features and advantages will be apparent from the description and drawings, and from the claims.

DETAILED DESCRIPTION

Described herein are examples of an accessory mounting system for a robot. The implementations are described in the context of a robotic arm system; however, the accessory mounting system and its variants described herein are not limited to this context and may be used with any type of robot.

FIG.1show an example robotic system (“system”)100on which an accessory mounting system (“accessory mount”)99may be implemented. System100includes robotic arm (“arm”)101. Arm101includes robot joints (“joints”)102a,102b,102c,102d,102e, and102fconnecting a robot base (“base”)103and a robot tool flange (“tool flange”)104.FIG.2shows arm101in a different pose than the pose shown inFIG.1.

In this example, arm101includes six joints; however, other implementations of arm101may include fewer than six joints or more than six joints. Example arm101is thus a six-axis robot arm having six degrees of freedom enabled by the six rotational joints. The joints in this example include the following: base joint102aconfigured to rotate around axis105a; shoulder joint102bconfigured to rotate around axis105b; elbow joint102cconfigured to rotate around elbow axis105c; first wrist joint102dconfigured to rotate around first wrist axis105d; and second wrist joint102econfigured to rotate around second wrist axis105e. As noted, the joints in this example also include joint102f. Joint102fis a tool joint containing tool flange104and is configured to rotate around tool axis105f.

Arm101also includes links110and111. Link110is a cylindrical device that connects joint102bto102c. Link111is a cylindrical device that connects joint102cto102d. Other implementations may include more than two links and/or links having non-cylindrical shapes.

In this example, tool flange104is on an opposite end of arm101from base103; however, that need not be the case in all robots. Tool flange104is rotatable around a tool axis105f. Tool flange104contains an end effector interface. The end effector interface enables an end effector to connect to arm101mechanically and/or electrically. To this end, the end effector interface includes a configuration of mechanical and/or electrical contacts and/or connection points to which an end effector may mate and thereby attach to arm101. An example end effector includes an accessory, such as those described below, configured to interact with the environment.

Examples of accessories—that is, end effectors—that may be connected to the tool flange via the end effector interface include, but are not limited to, mechanical grippers, vacuum grippers, magnetic grippers, screwing machines, reverse screwing machines, welding equipment, gluing equipment, liquid or solid dispensing systems, painting equipment, visual systems, cameras, scanners, wire holders, tubing holders, belt feeders, polishing equipment, and/or others not listed here. One or more of these accessories may connect to/mount on the accessory mount described herein.

Arm101includes one or more motors and/or actuators (not shown) associated with the tool flange and each joint and/or link. The one or more motors or actuators are responsive to control signals to cause movement of the tool flange and joints, and thus of arm101, based on the control signals. For example, the motors and/or actuators may be configured and controlled to control movement of the arm's joints and/or links in order to move the robot tool flange104to a particular pose or location in the environment.

As shown inFIG.1, system100also includes a robot controller (“controller”)110to control operation of arm101. For example, controller110may be configured to output the control signals noted above to control movement, or lack thereof, of arm101. Controller110may include, for example, one or more microcontrollers, one or more microprocessors, programmable logic such as a field programmable gate array (FPGA), one or more application-specific integrated circuits (ASICs), solid state circuitry, or any appropriate combination of two or more of these types of processing devices. In some implementations, controller110may include local components integrated into, or at a same site as, arm101. In some implementations, controller110may include remote components that are remote in the sense that they are not located on, or at a same site as, arm101. In some implementations, controller110can include computing resources distributed across a centralized or cloud computing service, at least a portion of which is remote from robotic arm101. The local components may receive instructions to control arm101from the remote or distributed components and control the motors and/or actuators accordingly.

Controller110may be configured to control motion of arm101by controlling the amount of torque provided to the joints by the motors and/or actuators based on a dynamic model of arm101, a direction of gravity, signals from sensors (not shown) connected to or associated with each or some of the joints and/or links, and/or a computer program stored in a memory of controller110. In this regard, the torque output of a motor is the amount of rotational force that the motor develops. The dynamic model may be stored in memory (not shown) of controller110and may define a relationship between forces acting on arm101and the velocity, acceleration, or other movement, or lack of movement of arm101that result(s) from those forces. The dynamic model may include a kinematic model of arm101, knowledge about inertia of arm101and other parameters influencing the movements of arm101. The kinematic model may define a relationship between the different parts of arm101and may include information about arm101such as the lengths and/or sizes of the joints and links. The kinematic model may be described by Denavit-Hartenberg parameters or like. The dynamic model may make it possible for controller110to determine which torques and/or forces that the motors and/or actuators should provide in order to move joints or other parts of the robotic arm, e.g., at a specified velocity, at a specified, acceleration, or to hold the robot arm in a particular static pose.

Controller110may also include, or connect to, an interface device111. Interface device111is configured to enable a user to control and/or to program operations of arm101via controller110. Interface device111may be a dedicated device, such as a robotic teach pendent, which is configured to communicate with controller110via wired and/or wireless communication protocols. Such an interface device111may include a display112and a one or more types of input devices113such as buttons, sliders, touchpads, joysticks, track balls, gesture recognition devices, keyboards, microphones, and the like. Display112may be or include a touch screen acting both as display and input device. Interface device111device may be or include a generic computing device (not shown), such as a smartphones, a tablets, or a personal computer including a laptop computer, configured with appropriate programming to communicate with controller110.

Referring also to the close-up views ofFIGS.3A and3B, accessory mount99incudes structures120configured for connection to one or more complementary structures on corresponding accessories (not shown). In the example ofFIGS.1,2,3A and3B, each structure is a protrusion, or “perch”, that is raised—for example, that extends outwardly-relative to a surface associated with the robot, such as surface122(FIG.3B) of a part of arm101. Referring toFIGS.4A and4B, taking structure125as representative of each structure120, each of the faces125ato125dis in the shape of an isosceles trapezoid. Taking face125aas representative of each face, the longer base126aof face125ais nearest to or adjacent to surface122of the arm101and the shorter base126bof face125is raised relative to, and farthest from, surface122of arm101.

The faces are angled obliquely relative to the surface122of robot to intersect with one another and thereby produce a pyramidal structure—in this example, a four-sided pyramidal structure—that is raised relative to surface122of arm101. The four-sided pyramidal structure may also have a top surface127, which may be flat resulting in a truncated pyramidal structure in this example. Referring also toFIG.5, the interior angle of each face relative to surface122of the robot, such as angle130of face125a, may be between 10° and 50°; however, the structures described herein are not limited to this range of interior angles. Each face of the pyramidal structure is thus angled and tapered such that the faces decreases in width, and the horizontal cross-section of the pyramidal structure decreases in area, progressively farther away from the surface122of arm121.

As shown inFIG.4B, in some implementations, pyramidal structure125may include a rectangular cuboid base133and intersections of the faces125ato125d, such as intersection134, may be beveled. In some implementations, these features may be omitted.

Structures120may have shapes that are different than the four-sided pyramids ofFIGS.4A,4B, and5. For example,FIGS.6A and6Bshow a structure140having five faces and, thus, a five-sided pentagonal pyramidal structure. For example,FIGS.7A and7Bshow a structure141having six faces and, thus, a six-sided hexagonal pyramidal structure. For example,FIGS.8A and8Bshow a structure having three faces and, thus, a three-sided triangular pyramidal structure. For example,FIGS.9A and9Bshow a structure having eight faces and a four-pointed isotoxal star pyramidal structure in which the internal angles143a, a, of the star are about 45° and the external angles143b, B, of the star re about 135°. Each of these example structures may also include a raised base and beveled edges, as shown. The structures included in the accessory mount may have shapes other than these shapes. In some implementations, a single accessory mount may have structures having different shapes such as those described herein or others. In some implementations, angles α and β may differ from, respectively, 45° and the 135° as indicated above, so long as the sum of the angles α and β is 180° and angle α is less than 90° and angle β is larger than 90°.

In some implementations, each of the structures may include a connection hole, such as screw hole150shown inFIGS.4A and4B. In this example, hole150is a threaded hole configured to receive a screw during connection of an accessory, or a portion thereof, to the structure. In other implementations, the hole need not be threaded and may be configured to receive a plug or other type of connection mechanism.

There may be multiple structures120around a circumference of the accessory mount, as shown inFIGS.1,2,3A and3B. In some implementations, there may be two, three, four, five, six, seven, or more structures on or around the circumference of the accessory mount. In some implementations, there may be a single structure on the accessory mount.

In some implementations, the structures on the accessory mount may be, or include, indentations that extend inwardly relative to a surface122of a robot, such as arm101, and that have a configuration/shape that is complementary to the structures described with respect toFIGS.4A,4B,5A,5B,6A,6B,7A,7B,8A,8B,9A, and9B. For example, as shown inFIG.10, an example indented structure150may have an inverted pyramidal structure having faces that are tapered such that the faces decrease in width progressively farther away from the surface122of the robot in the direction of arrow151and that are angled as described with respect toFIG.5relative to surface122. The indented structures are not limited to complements of the shapes described herein and may have any appropriate structure. The independent structures may receive complementary protruding or raised structures on or associated with an accessory to connect to the accessory.

Accessory mount99may be connected mechanically to arm101. Referring toFIGS.11A,11b, and11C accessory mount99may be configured as a circular collar that attaches to a link or to a joint of arm101or, more generally, to any appropriate part of a robot. Although a circular collar is described, the collar may be square, rectangular, triangular, oval, or of any other shape. Referring toFIG.11C, the collar includes an inner surface153that fits adjacent to the link or joint and an outer surface154that supports the structures and that is associated with the robot since the collar fits around a robot link. In this example, outer surface154includes flat surfaces such as flat surface156. One or more structures120may be on one or more of these flat surfaces. In some implementations, there may be a single structure on each flat surface as shown in the figures, and in some implementations there may be more than one structure on a flat surface. In some implementations, one or more of the flat surfaces may not contain a structure.

Accessory mount99may be a separate component from arm101that is attached arm101using a fastener such one or more screws, one or more clamps, or a combination of these or other fasteners. In example accessory mount99shown inFIG.11B, the accessory mount is configured as a collar comprised of two pieces99aand99b. As shown inFIGS.11A and11B, the two pieces align at screw holes and fasten together using four screws155. For example, pieces99aand99bmay be fit around a link of arm101and fastened together using the screws to hold the accessory mount on arm101. In some implementations, the collar may include three or more pieces.

Accessory mount99may be integrated into arm101. For example, accessory mount may be part of arm101and formed when arm101is formed. In an example, arm101—or a portion thereof, such as a joint or a link containing the accessory mount—may be formed using processes such as three-dimensional (3D) printing, machining, and/or die-casting. During the formation process, the accessory mount is formed as a non-separable appendage of the arm's structure or the part's structure. The accessory mount may be made of polymer, metal, or any other appropriate material.

An accessory mount of the type described herein may be incorporated into one or more parts of a robot. For example, as shown inFIGS.1,2,3A and4B, accessory mount99may be incorporated into tool flange104adjacent to, or connected to, the end effector interface. In the example shown, accessory mount99is around tool flange104, leaving the end effector interface open and available for connection to an end effector. In another example, as shown inFIG.12, accessory mounts160,161, and162which are the same as, or variants of, accessory mount99, may be incorporated into tool flange104and into links111and110, respectively of arm101. In this regard, a single link may include none, one, two, three, or more accessory mounts. One or more accessory mounts may also be incorporated into one or more respective joints. A robot, such as arm101, may include any number of accessory mounts that is appropriate for its size and configuration.

Referring toFIGS.13A,13,13C, and13D, in some implementations, an accessory mount165which is the same as, or a variant of, accessory mount99, is connected to the end effector interface, e.g., rather than around tool flange104as described above. The structures of accessory mount165protrude or are indented relative to its surface, which is associated with the robot by virtue of connection of accessory mount165to the end effector interface. In some implementations, accessory mount165may include a connection interface166configured to connect to the end effector interface167, e.g., using screws168or any of the other types of fasteners described herein. In this example configuration, end effector interface167may be blocked or inaccessible or unusable by the presence of accessory mount165connected in this manner. To address this, as shown inFIGS.13A to13D, accessory mount165may include, or attach to, a second end effector interface169having a connection configuration that is the same as that of the end effector interface of tool flange104. In an example, the connection configuration includes holes and/or other types of mechanical interfaces171(e.g.,171ato171eofFIG.13D) to which an end effector connects to the tool flange. Second end effector interface169is on a different—for example, opposite—surface of the accessory mount than the connection interface166that connects to end effector interface167. Second end effector interface169may connect to the accessory mount via screws170as shown or other types of fasteners as described herein. In some implementations, second end effector interface169may be an integral part of the accessory mount and, therefore, not require fasteners for connection.

A locator pin172aon accessory mount165mates to a corresponding hole172bon end effector interface169to ensure that the two are in proper position relative to each other.

Referring toFIGS.14A,14b,14C, and14D, in some implementations, an accessory mount180, which is a variation of accessory mount99, may include two, three, four, or more structures181,182, and183that fit one on top of the other, i.e., that are stackable, and that enable stacking of multiple accessories. For example, each structure182,183may have a receptacle182a,183a, respectively, that has a shape that is complementary to, and configured to receive, the raised pyramidal shape of a pyramidal structure. For example structure181may receive and support a structure181] Structure182holds a first accessory (not shown) at accessory support184. For example structure182may receive and support a structure183. Structure183holds a second accessory (not shown) at accessory support185. Structures182and183may have any of the shapes described herein and receptacles182aand183a, respectively, may have shapes that are complementary to the shapes of the structures, thereby enabling the stacking. Fewer than two, or more than two structures may be in a single stack.

The accessory mount, and accessories held thereon, may move with movement of the robot. For example, an accessory mount on the tool flange or end effector interface may rotate with the tool flange or end effector interface, causing accessories thereon also to rotate.

FIGS.15and16show examples of accessory supports, which hold or support an accessory (not shown), configured to interface to the accessory mounts described herein. InFIG.15, accessory support190includes two contacts192,193having receptacles, such as receptacle194, that are complementary to the shape of raised pyramidal structures on an accessory mount of the type described herein. As shown inFIG.15, accessory support190is secured to pyramidal structures of an accessory mount using screws195,196, which fit into the connection holes on contacts192,193and into connection holes on respective pyramidal structures to which the contacts mate/fit over. In this example, accessory support190includes interchangeable features197and198, which connect to flange200via screw201and hole202to support an accessory (not shown). Teeth197a,197bon respective features197,198are complementary to, and mate with, teeth200aon feature200. The teeth may prevent unwanted rotation of the accessory, e.g., during robot movement. Accessory support190includes two contacts192,193and corresponding receptacles to enable mating to two pyramidal structures. In other implementations, the accessory support may a single contact or more than two contacts.

In the example ofFIG.16, accessory support210includes two contacts211212and corresponding receptacles to enable mating to two pyramidal structures in the same manner as described above with respect to accessory support190. In this example, feature214is a planar surface having holes, such as hole215, to which an accessory may attach.

FIG.17shows part of arm101having a laser line scanner accessory connected to/mounted on an accessory mount221, which is an accessory mount of the type described herein. The line scanner accessory is just an example of a type of accessory; any appropriate accessory can be connected to accessory mount221. In this example, laser line scanner includes two parts224and225that are each connected to two different structures (covered in the figure) of accessory mount221in the manner described herein. This example also shows a second end effector interface227of the type described above connected to the accessory mount and for enabling connection to an end effector while the laser line scanner is also connected to the accessory mount. The laser line scanner may rotate with the accessory mount, which rotates with joint102fand moves along with movement of arm101as described herein, thereby enabling precise positioning of the laser scanner relative to a target.

In some implementations, the accessory mount may be used as connection points along the length of a robot for wires, leads, tubing, and/or pressure vessels, for example, that are usable with the robot. For example, wires may extend along the length of the robot. The wires may be held by an accessory on the accessory mount in such a manner that enables the wires to move along with movement of the robot, but also keeps the wires relatively organized, thereby reducing the chances of disconnections. The same may be true for the leads, tubing, and/or pressure vessels.

The tapering and angling of the faces/sides of structures on the accessory mounts described herein facilitates connection to the accessories and/or supports therefor. The receptacles on the accessories or supports may register off of a face/side of the structure. For example, the accessory's receptacle may contact the face/side of the structure and slide downward along the face/side of the structure to complete the connection between the receptacle and the accessory mount. Because the face/side of the structure is tapered and angled, the alignment between the accessory and the structure need not be precise in order to make a connection. In other words, the tapering and angling is relatively forgiving in that errors in alignment will not prevent the accessory and the structure from making a connection.

The accessory mount is advantageous in that it enables one or multiple accessories to be mounted onto a robot, such arm101, at various points along the length of the robot. For example, both a camera and a light may be mounted on the accessory mount adjacent to the tool flange. The lighting and camera may be controlled to improve the resulting images. In another example, an accessory mount proximate to a tool flange may hold both a gripper and a video camera. The feed from the video camera may be used to achieve more precise control over the gripper. Any appropriate combination of accessories may thus be mounted at any location on the robot.

The accessory mounting system described herein is not limited to use on a robotic-arm-type robot, such as arm101. For example, the accessory mounting system may be incorporated into an autonomous vehicle robot of the type that is the subject of U.S. Pat. No. 11,287,824 (issued Mar. 29, 2022), and which is described with respect toFIGS.1,2, and3thereof. The contents of U.S. Pat. No. 11,287,824 relating to the description of the autonomous vehicle are incorporated herein by reference. In another example, the accessory mounting system may be incorporated into an autonomous vehicle robot of the type that is the subject of U.S. Patent Publication No. 2021/0349468 (published Nov. 11, 2021), and which is described with respect toFIGS.1,2, and3thereof. The contents of U.S. Patent Publication No. 2021/0349468 relating to the description of the autonomous vehicle are incorporated herein by reference.

The example robots, and components thereof, described herein can be controlled, at least in part, using one or more computer program products, e.g., one or more computer program tangibly embodied in one or more information carriers, such as one or more non-transitory machine-readable media, for execution by, or to control the operation of, one or more data processing apparatus, e.g., a programmable processor, a computer, multiple computers, and/or programmable logic components.

Actions associated with implementing at least part of the robot can be performed by one or more programmable processors executing one or more computer programs to perform the functions described herein. At least part of the robot can be implemented using special purpose logic circuitry, e.g., an FPGA (field programmable gate array) and/or an ASIC (application-specific integrated circuit).

The following paragraphs recite potential claims.1. A system comprising: an apparatus (i) configured for connection to a robot or (ii) integrated into the robot, the apparatus comprising: at least one structure configured for connection to one or more corresponding accessories, where the at least one structure comprises (i) a protrusion that extends outwardly relative to a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot, the at least one structure comprising one or more faces that are tapered such that each of the one or more faces decreases in width farther away from the surface associated with the robot.2. The system of claim1, wherein the robot comprises an end effector interface configured to connect to an end effector and where the at least one structure is adjacent to the end effector interface.3. The system of any preceding claim, wherein at least one structure comprises a protrusion that is configured to mate to a feature on an accessory among the accessories.4. The system of any one of claims1-3, wherein at least one structure comprises an indentation that is configured to mate to a feature on an accessory among the accessories.5. The system of any one of claims1-4, wherein at least one structure comprising the protrusion has a pyramidal shape.6. The system of claim5, wherein the pyramidal shape comprises three or more faces.7. The system of any one of claims1-6, wherein at least one of the structures is integrated into the robot as a part of a link or a joint of robot.8. The system of any one of claims1-7wherein at least one structure comprises an indentation having an inverse pyramidal shape.9. The system of claim8, wherein the inverse pyramidal shape comprises three or more faces.10. The system of any preceding claim, wherein each of the structures comprises (i) a protrusion that extends outwardly from a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot, and wherein each of the structures comprises faces that are tapered such that each of the faces decreases in width farther away from the surface associated with the robot.11. The system of any one of claims1-10, wherein the apparatus is configured for connection to the robot, the apparatus comprising a collar that fits around at least part of the robot, the collar comprising at least one of the structures.12. The system of claim11, wherein the collar comprises multiple parts, each of the multiple parts comprising an interface for connection to another one of the multiple parts.13. The system of any one of claims1-10, wherein the robot comprises a first end effector interface configured to connect to an end effector; wherein the apparatus comprises a connection interface configured to connect to the end effector interface; and wherein the apparatus comprises a second end effector interface having a same configuration as the first end effector interface, the second end effector interface being on a different surface of the apparatus than the connection interface.14. The system of claim13, wherein the second end effector interface is on an opposite surface of the apparatus than the connection interface.15. The system of any preceding claim, wherein the apparatus is a first apparatus, the structures are first structures, the accessories are first accessories, the surface associated with the robot is a first surface, and the one or more faces are first faces; and wherein the system comprises one or more additional apparatus (i) configured for connection to the robot or (ii) integrated into the robot, the one or more additional apparatus each comprising: second structures configured for connection to one or more corresponding second accessories, each of the second structures comprising (i) a protrusion that extends outwardly relative to a second surface associated with the robot or (ii) an indentation that extends inwardly relative to the second surface associated with the robot, each of the second structures comprising one or more second faces that are tapered such that each of the one or more second faces decreases in width farther away from the second surface associated with the robot.16. The system of claim15, wherein the one or more additional apparatus are (i) configured for connection to (ii) or integrated into one or more respective robot links, the one or more respective robot links being different from a robot links adjacent to the end effector interface.17. The system of any preceding claim, wherein the apparatus is rotatable based on rotation of a robot joint.18. The system any preceding claim, wherein the apparatus is three-dimensionally (3D) printed, die-cast, or machined.19. A robotic system comprising: a robot; and an apparatus (i) configured for connection to the robot or (ii) integrated into the robot, the apparatus comprising structures configured for connection to one or more corresponding accessories, each of the structures comprising (i) a protrusion that extends outwardly relative to a surface associated with the robot or (ii) an indentation that extends inwardly relative to the surface associated with the robot, and each of the structures comprising one or more faces that are tapered such that each of the one or more faces decreases in width farther away from the surface associated with the robot.20. The robotic system of claim19, wherein the accessories comprise one or more of: a mechanical gripper, a vacuum gripper, a magnetic gripper, a screwing machine, a reverse screwing machine, welding equipment, gluing equipment, a liquid or solid dispensing system, painting equipment, a visual system, a camera, a scanner, a wire holder, a tubing holder, a belt feeder, or polishing equipment.21. The robotic system of claim19or20, wherein the robot comprises a robotic arm, the robotic arm comprising: a base; an end effector; an accessory included among the accessories, the accessory being connected to one or more of the structures; and links or joints between the base and the end effector, an instance of the apparatus being connected to, or integrated into, at least one of the links or joints.22. The robotic system of claims19to21, wherein the accessory is a first accessory and the robotic system further comprises a second structure that attaches to the first accessory to enable stacking a second accessory on the first accessory, the second structure having a pyramidal shape comprised of tapered faces.23. The robotic system of claims19to22, wherein ones of the links or joints each comprise at least one of the apparatus.

Elements of different implementations described herein may be combined to form other implementations not specifically set forth above. Elements may be left out of the structures described herein without adversely affecting their operation. Furthermore, various separate elements may be combined into one or more individual elements to perform the functions described herein.