Robotic gripper with multiple pairs of gripping fingers

• US 9,486,927 B1
• Filed: 05/20/2015
• Issued: 11/08/2016
• Est. Priority Date: 05/20/2015
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Morey, Christopher Lynn
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US14/717,586
• Time in Patent Office: 538 Days
• US Class Current: 1/1
• CPC Class Codes: B25J 15/0028 with movable, e.g. pivoting gripping jaw surfaces
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: B25J 15/026 actuated by gears
• CPC Class Codes: B25J 15/10 with three or more finger members B25J15/0009 takes precedence
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control
• CPC Class Codes: Y10S 901/31 Gripping jaw
• CPC Class Codes: Y10S 901/39 Jaw structure

Abstract

Provided herein is a robotic gripper comprising two gripping components, where each component may comprise a rotatable axle oriented along a longitudinal axis, and where the respective axles may be oriented substantially perpendicular to each other. Each component may further comprise a pair of opposing gripping fingers with each gripping finger of the pair being coupled to a respective end of the axle. Each axle may be independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and each pair of gripping fingers may be independently operable to move the gripping fingers of the respective pair toward and away from each other. A control system for the robotic gripper may thus actuate one or both pairs of gripping fingers to grasp one or more objects.

Claims

1. An apparatus comprising:

a first gripping component comprising a first rotatable axle oriented along a first longitudinal axis and further comprising a first pair of opposing gripping fingers with each gripping finger of the first pair being coupled to a respective end of the first axle; and

a second gripping component comprising a second rotatable axle oriented along a second longitudinal axis substantially perpendicular to the first longitudinal axis of the first axle and further comprising a second pair of opposing gripping fingers with each gripping finger of the second pair being coupled to a respective end of the second axle,

wherein each axle is independently operable to rotate the respective pair of gripping fingers about the longitudinal axis of the respective axle, and

wherein each pair of gripping fingers is independently operable to move the gripping fingers of the respective pair toward and away from each other.

2. The apparatus of claim 1, further comprising a controller configured to actuate the first and second gripping components, wherein the controller comprises at least one processor and data storage comprising instructions executable by the at least one processor to cause the controller to perform operations comprising:

causing rotation of one or both pairs of gripping fingers about the longitudinal axis of the respective axle; and

causing movements of the gripping fingers of one or both pairs of gripping fingers toward each other so as to grasp one or more objects.

3. The apparatus of claim 2, wherein the operations further comprise:

causing the first pair of gripping fingers to grasp a first object; and

while the first pair of gripping fingers is grasping the first object, causing the second pair of gripping fingers to grasp a second object.

4. The apparatus of claim 1, further comprising:

a robotic arm;

wherein rotation of the respective pair of gripping fingers about the longitudinal axis of the respective axle includes rotation over a predetermined range of rotation such that the respective pair of gripping fingers avoids contact with the robotic arm.

5. The apparatus of claim 1, wherein each gripper finger of each pair of gripping fingers comprises a leadscrew that houses a portion of the respective axle, the leadscrew being configured to translate rotational motion of an actuator coupled to the leadscrew into linear motion of the leadscrew, and

wherein the linear motion of the respective leadscrews of a respective pair of gripping fingers causes the gripping fingers of the respective pair to move toward and away from each other.

6. The apparatus of claim 5, wherein each gripper finger of each pair of gripping fingers further comprises:

a tip comprising a gripping surface,

an axle cap that houses a respective end of the respective axle, the axle cap being configured to transmit torque from the rotational motion of the axle to the gripper finger,

a bushing surrounding an end of the leadscrew, the bushing being configured to translate the linear motion of the leadscrew into rotational motion of the tip, and

a plurality of linkages mounting the tip to the axle cap and to the bushing.

7. The apparatus of claim 5, further comprising a housing for each of the first and second gripping components,

wherein the housing contains at least a portion of a respective gripping component, including at least a portion of each leadscrew of the respective gripping component, and

wherein the housing is configured to contact the leadscrews of the respective gripping component and prevent rotation of the leadscrews.

8. The apparatus of claim 7, further comprising:

one or more sensors coupled to one or more of the gripping fingers of the apparatus, wherein the one or more sensors include one or both of (i) one or more force sensors and (ii) one or more cameras; and

wiring coupled to the one or more sensors and running through an interior of one or both of the housings and along at least a portion of a length of the one or more of the gripping fingers.

9. The apparatus of claim 8, wherein the respective housings are configured to seal the first and second gripping components and the wiring from outside exposure.

10. The apparatus of claim 1, wherein each gripping component further comprises an additional respective rotatable axle oriented along an axis parallel to the longitudinal axis of the gripping component,

wherein each of the additional respective axles is independently operable to rotate to cause the gripping fingers of the respective pair of gripping fingers to move toward and away from each other.

11. A robotic device comprising:

a first gripping component comprising a first rotatable axle oriented along a first longitudinal axis and further comprising a first pair of opposing gripping fingers with each gripping finger of the first pair being coupled to a respective end of the first axle;

a second gripping component comprising a second rotatable axle oriented along a second longitudinal axis substantially perpendicular to the first longitudinal axis of the first axle and further comprising a second pair of opposing gripping fingers with each gripping finger of the second pair being coupled to a respective end of the second axle; and

a controller comprising at least one processor and data storage comprising instructions executable by the at least one processor to cause the controller to perform operations comprising;

causing rotation of one or both pairs of gripping fingers about the longitudinal axis of the respective axle; and

causing movements of the gripping fingers of one or both pairs of gripping fingers toward each other so as to grasp one or more objects.

12. The robotic device of claim 11, wherein the operations further comprise:

receiving data indicative of an object in an environment of the robotic device, the data including a location of the object in the environment;

based on the location of the object, determining positions to which to rotate each of the first and second pairs of gripping fingers with respect to each other such that the object is located between the respective fingers of each pair of gripping fingers;

causing the first and second pairs of gripping fingers to rotate to the determined positions; and

causing movement of each pair of gripping fingers so as to grasp the object.

13. The robotic device of claim 11, wherein the operations further comprise:

receiving data indicative of a first and second object in an environment of the robotic device, the data including a location of first object in the environment, a location of the second object in the environment different from the location of the first object, and dimensions of each of the first and second objects;

based on the location of each of the first and second objects and further based on the dimensions of each of the first and second objects, determining (i) a first position to which to rotate the first pair of gripping fingers and (ii) a second position to which to rotate the second pair of gripping fingers;

causing the first pair of gripping fingers to rotate to the determined first position;

after rotating the first pair of gripping fingers to the determined first position, causing the first pair of gripping fingers to grasp the first object;

causing the second pair of gripping fingers to rotate to the determined second position; and

after rotating the second pair of gripping fingers to the determined second position, causing the second pair of gripping fingers to grasp the second object.

14. The robotic device of claim 11, wherein the operations further comprise:

receiving data indicative of a first and second object in an environment of the robotic device, the data including a location of first object in the environment, a location of the second object in the environment different from the location of the first object, and dimensions of each of the first and second objects;

based on the location of the first object, determining a first position proximate to the first object to which to rotate the first pair of gripping fingers;

causing the first pair of gripping fingers to rotate to the determined first position;

after rotating the first pair of gripping fingers to the determined first position, causing movement of the first pair of gripping fingers so as to grasp the first object;

based on the dimensions of one or both of the first and second objects, determining a second position to which to rotate the first pair of gripping fingers about the longitudinal axis of the first axle;

causing the first pair of gripping fingers to rotate to the determined second position while grasping the first object;

based on the location of the second object and the determined second position to which the first pair of gripping fingers rotated, determining a third position proximate to the second object to which to rotate the second pair of gripping fingers;

causing the second pair of gripping fingers to rotate to the determined third position; and

after rotating the second pair of gripping fingers to the determined third position, causing movement of the second pair of gripping fingers so as to grasp the second object.

15. The robotic device of claim 11, wherein the operations further comprise:

receiving data indicative of a plurality of objects in an environment of the robotic apparatus, the data including a location of each object of the plurality in the environment and further including dimensions of each object of the plurality;

based on the location and dimensions of each object, determining positions to which to rotate each of the first and second pairs of gripping fingers such that the plurality of objects are located between the respective fingers of each pair of gripping fingers;

causing the first and second pairs of gripping fingers to rotate to the determined positions; and

after rotating the first and second pairs of gripping fingers to the determined positions, causing the first and second pairs of gripping fingers to simultaneously move together along the respective axes to grasp the plurality of objects.

16. The robotic device of claim 11, wherein the operations further comprise:

receiving data indicative of an elongated object in an environment of the robotic apparatus, the data including a location of the elongated object in the environment and further including dimensions of the elongated object;

based on the location and the dimensions of the elongated object, determining a first position at which to orient the first pair of gripping fingers such that the elongated object is located between the first pair of gripping fingers and located lengthwise along an axis substantially perpendicular to a path along which the first pair of gripping fingers moves;

causing the first pair of gripping fingers to move to the determined first position;

after moving the first pair of gripping fingers to the first position, causing the first pair of gripping fingers to grasp the elongated object;

based on the dimensions of the elongated object, determining a second position along a length of the elongated object at which to orient the second pair of gripping fingers to brace the elongated object; and

while the first pair of gripping fingers are grasping the elongated object, causing the second pair of gripping fingers to move to the determined second position and to brace the elongated object.

17. A method for actuating a robotic apparatus comprising (i) a first gripping component comprising a first rotatable axle oriented along a first longitudinal axis and further comprising a first pair of opposing gripping fingers with each gripping finger of the first pair being coupled to a respective end of the first axle and (ii) a second gripping component comprising a second rotatable axle oriented along a second longitudinal axis substantially perpendicular to the first longitudinal axis of the first axle and further comprising a second pair of opposing gripping fingers with each gripping finger of the second pair being coupled to a respective end of the second axle, the method comprising:

receiving, at a control system configured to actuate the robotic apparatus, data indicative of distinct locations of a first and second object in an environment of the robotic apparatus and further indicative of dimensions of each of the first and second object;

based on the locations and dimensions of the first and second objects, determining respective orientations of each of the first and second pairs of gripping fingers to which to rotate the first and second pairs of gripping fingers about the longitudinal axes of the respective axles, wherein the respective orientations are orientations such that the first pair of gripping fingers will grasp the first object and the second pair of gripping finger will grasp the second object without contact between the first and second objects;

causing the first pair of gripping fingers to rotate to the respective orientation determined for the first pair;

after rotating the first pair of gripping fingers to the respective orientation, causing movement of the first pair of gripping fingers toward each other so as to grasp the first object;

causing the second pair of gripping fingers to rotate to the respective orientation determined for the second pair; and

after rotating the second pair of gripping fingers to the respective orientation, causing movement of the second pair of gripping fingers toward each other so as to grasp the second object.

18. The method of claim 17, further comprising:

based on the locations and dimensions of the first and second objects, determining a sequenced order in which to pick up the first and second objects,

wherein causing the first pair of gripping fingers to grasp the first object and causing the second pair of gripping fingers to grasp the second object comprises causing the first and second pair of gripping fingers to grasp the first and second object in the determined sequenced order.

19. The method of claim 17, further comprising:

receiving data indicative of (i) a first location at which to place the first object in the environment and (ii) a second location at which to place the second object in the environment;

based on the first and second locations and further based on the dimensions of the first and second objects, determining additional respective orientations of each of the first and second pairs of gripping fingers to which to rotate the first and second pairs of gripping fingers about the longitudinal axes of the respective axles;

causing the first pair of gripping fingers to rotate to the additional respective orientation determined for the first pair;

after rotating the first pair of gripping fingers to the additional respective orientation, causing movement of the first pair of gripping fingers away from each other so as to release the first object at the first location;

causing the second pair of gripping fingers to rotate to the additional respective orientation determined for the second pair; and

after rotating the second pair of gripping fingers to the additional respective orientation, causing movement of the second pair of gripping fingers away from each other so as to release the second object at the second location.

20. The method of claim 17, wherein each gripper finger of each pair of gripping fingers of the robotic apparatus comprises a leadscrew that houses a portion of the respective axle, the leadscrew being configured to translate rotational motion of an actuator coupled to the leadscrew into linear motion of the leadscrew, and

wherein the linear motion of the respective leadscrews of a respective pair of gripping fingers causes the gripping fingers of the respective pair to move toward and away from each other.