ROBOT END EFFECTOR

A robot end effector includes a stationary plate having at least one stabbing pin extending therefrom and an ejector plate, adjacent to the stationary plate, having a at least one aperture through which the at least one stabbing pin extends. An actuator assembly comprising an actuator coupled to an ejector post via a linkage assembly advances and retracts the ejector post through a support, the ejector post extending through an aperture in the stationary plate and having a distal end coupled to the ejector plate. The ejector post increases separation of the ejector plate from the stationary plate when the ejector post is advanced through the support.

BACKGROUND

Robotic systems are used in a variety of industries to perform mechanical functions, especially repetitive tasks which may require a high degree of precision. A robotic device such as an articulating robotic manipulator may be equipped with an end effector for enabling the robotic device to perform a particular function. One function that may be performed by a robotic system is a so-called “pick-and-place” operation in which the robotic system picks up an item at a first physical location and places it in a second physical location.

It is emphasized that, in accordance with the standard practice in the industry, various features are not drawn to scale. In fact, the dimensions of the various features may be arbitrarily increased or reduced for clarity of discussion or illustration.

DETAILED DESCRIPTION

Further, as used herein, the article “a” is intended to have its ordinary meaning in the patent arts, namely “one or more.” Herein, the term “about” when applied to a value generally means within the tolerance range of the equipment used to produce the value, or in some examples, means plus or minus 10%, or plus or minus 5%, or plus or minus 1%, unless otherwise expressly specified. Further, herein the term “substantially” as used herein means a majority, or almost all, or all, or an amount with a range of about 51% to about 100%, for example. Moreover, examples herein are intended to be illustrative only and are presented for discussion purposes and not by way of limitation.

FIGS. 1A and 1Billustrate side views of a stabbing assembly100for a robot end effector according to one or more examples. Stabbing assembly100comprises a stationary plate102and an ejector plate104. Stationary plate102includes a plurality of stabbing pins106each having a proximal end108extending from a bottom surface103of stationary plate102and a free distal end110. Each stabbing pin106extends through an aperture in ejector plate104(as hereinafter shown and described).

Also shown inFIGS. 1A and 1Bis an ejector post112which extends through an opening114in stationary plate102and is coupled at a distal end113to ejector plate104such that when ejector post112advances and retracts in the direction shown by arrows116inFIGS. 1A and 1B, ejector plate104is advanced and retracted relative to stationary plate102as represented by arrows116. In the retracted position of ejector post112and ejector plate104shown inFIG. 1A, ejector plate104is situated relatively nearer to proximal end108of stabbing pins106. Alternatively, while in the advanced position of ejector post112and ejector plate104shown inFIG. 1B, the distance between stationary plate102and ejector plate104is increased such that ejector plate104is situated relatively nearer to distal ends110of stabbing pins106, i.e., an increased distance away from the stationary plate. In some examples, distal ends110of stabbing pins106may be curved, as shown inFIGS. 1A and 1B, to facilitate engagement and retention of an item by stabbing pins106when an item is stabbed by stabbing pins106, as hereinafter described.

In various examples, ejector post112may comprise an elongate (e.g., cylindrical) magnet which is magnetically coupled at distal end113to a rear face105of ejector plate104. Also, in various examples, ejector post112includes an actuator coupling118at a proximal end120thereof for coupling ejector post112to an actuator as hereinafter described.

FIG. 2Ais a top view of top surface105of ejector plate104from the examples ofFIGS. 1A and 1B. As shown inFIG. 2A, ejector plate104includes a plurality of apertures122therein positioned to receive a corresponding stabbing pin106extending from stationary plate102. In various examples, ejector plate104may be made of a magnetically attractive metal, to facilitate magnetic coupling of ejector plate104to ejector post112. In other examples, ejector plate104may be provided with a magnetically attractive element on upper surfaced105, as represented by dashed outline124inFIG. 2A, for facilitating magnetic coupling of ejector plate104to ejector post112.

FIG. 2Bis a bottom view of stationary plate102from the examples ofFIGS. 1A and 1B. In this example, aperture114in stationary plate102is centrally located on stationary plate to allow ejector post112(not shown inFIG. 2B) to extend therethrough. As shown, a plurality of stabbing pins106extend from the bottom surface103of stationary plate102.

FIG. 2Cis a bottom view of stabbing assembly100from the example ofFIGS. 1A and 1B.FIG. 2Cshows distal ends110of stabbing pins106extending through respective corresponding apertures122in ejector plate104.FIG. 2Dis a top view of stabbing assembly100from the example ofFIGS. 1A and 1B, including the top surface126of stationary plate102. Also shown inFIG. 2Dis ejector post112with actuator coupling118.

In some examples, and as shown inFIG. 2D, a plurality of magnets128may be disposed on upper surface126of stationary plate102. Magnets128may facilitate attachment and orientation of stabbing assembly100to an end effector housing, as hereinafter described. In other examples, magnetically attractive metal on the upper surface126of stationary plate102may be used to facilitate attachment and orientation of stabbing assembly100to the end effector housing.

FIG. 3is an isometric view of stabbing assembly100from the example ofFIGS. 1A and 1B, along with ejector post112. InFIG. 3, stabbing assembly100is shown with ejector plate104in its retracted position relative to stationary plate102.

Turning toFIGS. 4A and 4B, there are shown side cross-sectional views of a robot end effector400incorporating the stabbing assembly100and ejector post112substantially according to the examples ofFIGS. 1A and 1B. As shown inFIGS. 4A and 4B, robot end effector400includes an end effector housing402. In some examples, housing402may be made of a rigid plastic material. In various examples, top surface126of stationary plate102is coupled to a bottom surface404of housing402. Coupling of stationary plate102to bottom surface404of effector housing402may be facilitated by magnets128or magnetically attractive metal on upper surface126of stationary plate102, as previously described with reference toFIGS. 2D and 3, and a plurality of magnets (not shown inFIGS. 4A and 4B) on bottom surface404of effector housing402.

The magnetic coupling of ejector post112to ejector plate104in various examples herein likewise minimizes the need for other types of mechanical fasteners or structures. This may facilitate the cleaning and sanitization of stabbing assemblies100, which, because of the magnetic coupling, may be easily removed from an effector housing for cleaning.

It is to be noted that the coupling of stationary plate102to bottom surface404of housing402using magnets advantageously reduces or eliminates the need for other types of mechanical connectors and structures. In some examples, this may render housing402easier to clean and less susceptible to retaining debris which might otherwise accumulate during operation of robot end effector400. This may be beneficial in applications such as food preparation, where stabbing pins106are utilized to engage food items, such as slices of bread, tomatoes, cheese, and the like.

With continued reference toFIGS. 4A and 4B, ejector post112extends through bottom surface404into the interior of effector housing402. Supported within housing402is a rotary actuator406. In various examples, rotary actuator406may be a servomotor capable of controlled rotation of a drive post408in the directions indicated by arrow410inFIGS. 4A and 4B.

In the example ofFIGS. 4A and 4B, linkage elements412and416are coupled between drive post408and actuator coupling118of ejector post112. In particular, in this example, linkage element412is coupled at one end to drive post408of actuator406and at a hinge point414to one end of second linkage element416. Another end of linkage element416is coupled with a pin420to actuator coupling118of ejector post112. With this arrangement, rotation of drive post408of actuator406in the directions of arrow410is translated into up-and-down motion of ejector post112, as represented by arrow116inFIGS. 1A and 1B, andFIGS. 4A and 4B.FIG. 4Ashows ejector post112and ejector plate104in their retracted positions, whileFIG. 4Bshows ejector post112and ejector plate104in their advanced positions.

In some examples, actuator406may include a guide structure422through which ejector post112extends. Guide structure422may support and guide ejector post112during its up-and-down motion.

Referring toFIGS. 5A-C, in some examples, a plurality of actuators and stabbing assemblies may be incorporated into a single robot end effector.FIG. 5Ais a top, cross-sectional view of a robot end effector500having a housing502supporting four actuators506. In this example, each actuator is associated with a separate ejector post coupled to a separate stabbing assembly100.FIG. 5Bis a bottom view of robot end effector500from the example ofFIG. 5A.

FIG. 5Cis a bottom view of the robot end effector500from the examples ofFIGS. 5A and 5Bwithout stabbing assemblies100being attached thereto. As shown inFIG. 5C, a bottom surface528of effector housing502has a plurality of holes530therethrough for allowing ejector posts112(not shown) to extend to actuate stabbing assemblies100. In the example ofFIG. 5C, a plurality of magnets532may be disposed on bottom surface528of effector housing502in order to facilitate attachment of stabbing assemblies100by attraction to magnets128or magnetically attractive metal thereon, as previously described with reference toFIG. 2D. the arrangement of magnets128on stabbing assemblies100and magnets532on bottom surface528of effector housing502may further facilitate a desired orientation of stabbing assemblies100, such as the orientation shown inFIG. 5B.

FIG. 6is a side, cross-sectional view of robot end effector from the examples ofFIGS. 5A-5C.

FIG. 7is a side view of a robot manipulator700with which a robot end effector according to one or more examples herein may be utilized. In the example ofFIG. 7, robot manipulator700includes a base702adapted to be mounted to an operating surface704. Robot manipulator700may include a plurality of articulating joint sections706,708,710,712connected between a plurality of interconnecting segments714,716,718. In this example, articulating joint712connects an interconnecting segment718to a tool head720having a tool plate722.

The arrangement of articulating joint sections706,608,210,712and interconnecting segments714,716,718provides a high degree of freedom of motion of tool head720, such that with appropriate articulation, tool head720may be located and oriented in any position within the physical dimensions of robot manipulator700. A plurality of threaded connector holes724may be provided on tool plate722for attachment of various robot end effectors, providing desired functionality of robot manipulator700.

FIG. 8is a side view of robot manipulator700after being equipped with robot end effector500from the example ofFIGS. 5A-5C and 6. As shown inFIG. 8, robot end effector500may be attached to tool plate722of robot manipulator700, enabling robot manipulator700to manipulate robot end effector500into various positions. Robot end effector500may thereby enable robot manipulator700to perform pick-and-place operations on items susceptible to being engaged by stabbing pins106.

FIGS. 9A-9Cdepict a pick-and-place operation performed using a robot end effector such as robot end effector500from the example ofFIGS. 5A-5C and 6. As shown inFIGS. 9A-9C, robot end effector500may be attached to tool plate722of robot manipulator700. In a first stage (or phase) of a pick-and-place operation, robot manipulator700orients robot end effector500above one or more items900to be moved. As previously noted, items900may be any items susceptible to being stabbed by stabbing pins106of stabbing assemblies100. Such items include food items, such as tomato slices, bread slices, cheese slices, pickle slices, and so on.

As shown inFIG. 9A, robot manipulator drives robot end effector400downward onto items900, as indicated by arrow902inFIG. 9A. This causes stabbing pins106to stab and engage items900, as shown inFIG. 9B. Robot manipulator700may then move and re-orient robot end effector500to a desired location, carrying items900along with robot end effector500.

Next, as shown inFIG. 9C, robot end effector500may eject items900by advancing ejector plate104away from stationary plate to release items900off of stabbing pins106. Items900may drop as indicated by arrows904inFIG. 9C.