BACKGROUND

[0001] In several industries, such as the manufacturing industry, warehousing and packaging industry, etc., operations involve picking, handling, and shuttling items (e.g., components, workpieces, items to be packaged and shipped, etc.). Operations may further involve combining several items in a package or a kit, which can be referred to as a kitting operation.

[0002] Picking operations can be accomplished via manual labor or an automated system that reduces the need for manual labor. Automated systems can involve robots configured to pick items.

[0003] Available picking automation solutions are currently limited by adaptability, reliability, and complexity of the systems. Particularly, while a robot might be available to pick a particular type of items, such robot may be challenged in picking a different type of item having a different geometry or configuration, or where items are stacked in a particular manner. In other words, existing robots might not be suited for high-mix environments where different types of items arranged in different configurations are to be picked.

[0004] It may thus be desirable to have a robotic gripper that is versatile to enable a robot to pick items in high-mix environment. It is with respect to these and other considerations that the disclosure made herein is presented. SUMMARY

[0005] Within examples described herein, the present disclosure describes implementations that relate to a robotic gripper.

[0006] In a first example implementation, the present disclosure describes a robotic gripper including: a scissor frame comprising a first chassis and a second chassis, wherein the first chassis is pivotably-coupled to the second chassis at a pivot that is positioned at respective intermediate points of the first chassis and the second chassis; a plurality of gripper arm assemblies comprising: (i) a first gripper arm assembly coupled to the first chassis, (ii) a second gripper arm assembly coupled to the first chassis, (iii) a third gripper arm assembly coupled to the second chassis, and (iv) a fourth gripper arm assembly coupled to the second chassis; and a deployment actuator coupled to the first chassis or the second chassis, wherein the deployment actuator is configured to rotate the first chassis or the second chassis about the pivot to change a deployment angle of the scissor frame.

[0007] In a second example implementation, the present disclosure describes a robot. The robot includes a robot arm and the robotic gripper of the first example implementation coupled to the robot arm.

[0008] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, implementations, and features described above, further aspects, implementations, and features will become apparent by reference to the figures and the following detailed description. BRIEF DESCRIPTION OF THE FIGURES

[0009] The novel features believed characteristic of the illustrative examples are set forth in the appended claims. The illustrative examples, however, as well as a preferred mode of use, further objectives and descriptions thereof, will best be understood by reference to the following detailed description of an illustrative example of the present disclosure when read in conjunction with the accompanying Figures.

[0010] Figure 1 illustrates a schematic view of a robot, in accordance with an example implementation.

[0011] Figure 2 illustrates a perspective view of a robotic gripper, in accordance with an example implementation.

[0012] Figure 3 illustrates a partial perspective view of the robotic gripper of Figure 2, in accordance with an example implementation.

[0013] Figure 4 illustrates a top view of the robotic gripper of Figure 2, in accordance with an example implementation.

[0014] Figure 5 illustrates a front view of the robotic gripper of Figure 2 with two gripper arm assemblies rotated upward and two gripper arm assemblies rotated downward, in accordance with an example implementation.

[0015] Figure 6 illustrates a perspective view of the robotic gripper of Figure 2 when a deployment actuator is activated to increase a deployment angle of a scissor frame, in accordance with an example implementation.

[0016] Figure 7 illustrates a top view of the robotic gripper in the state shown in Figure 6, in accordance with an example implementation. [0017] Figure 8 illustrates a perspective view of a robotic gripper, in accordance with an example implementation.

[0018] Figure 9 illustrates a partial perspective view of the robotic gripper of Figure 8, in accordance with an example implementation.

[0019] Figure 10 illustrates a side view of a gripper arm assembly of the robotic gripper of Figure 8, in accordance with an example implementation.

[0020] Figure 11 illustrates a partial cross-sectional side view of the gripper arm assembly of Figure 10, in accordance with an example implementation.

[0021] Figure 12 illustrates a partial side view of the gripper arm assembly of Figure 10 showing a finger in an unextended position and an extended position, in accordance with an example implementation.

DETAILED DESCRIPTION

[0022] Disclosed examples will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all of the disclosed examples are shown. Indeed, several different examples may be described and should not be construed as limited to the examples set forth herein. Rather, these examples are described so that this disclosure will be thorough and complete and will fully convey the scope of the disclosure to those skilled in the art.

[0023] Robots are used in industrial and warehousing facilities to perform various tasks. For example, an industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of industrial robots include welding, painting, assembly, disassembly, pick and place, packaging and labeling, palletizing, product inspection, and testing. Robots can also assist in material handling.

[0024] Similarly, warehouse robots can help pick, pack, and sort items being handled at warehouses. Example robots can have articulated robotic arms configured for picking and placing operations. Such articulated robotic arms are multi -jointed limbs used to manipulate products within distribution centers, warehouses, and manufacturing facilities.

[0025] Figure 1 illustrates a schematic view of a robot 100, in accordance with an example implementation. The robot 100 includes a base 102 and a robotic arm 104 comprising an arm mount 106. The robotic arm 104 includes a first robot arm segment 108 coupled to the arm mount 106 at an articulating joint 109, and the robotic arm 104 also includes a second robot arm segment 110 connected to the first robot arm segment 108 via an articulating joint 112. The robot 100 also includes a robotic gripper 114 coupled to the second robot arm segment 110. [0026] The robot 100 is represented herein as a generic industrial robot; however, it should be understood that the robotic gripper implementation described throughout this disclosure could be used with any type of robots including articulate robots, Cartesian coordinate robots, cylindrical coordinate robots, spherical coordinate robots, Selective Compliance Assembly Robot, Delta robot, serial manipulators, parallel manipulators, etc.

[0027] The robotic gripper 114 can also be referred to as an end-of-arm-tooling (EOAT) or endeffector. The robotic gripper 114 is a device that enables picking, holding, handling, tightening, and releasing of an object. Different configurations of robotic grippers can be used. In an example, the robotic gripper 114 can be a mechanical gripper as illustrated in Figure 1 where the robotic gripper has mechanical fingers to manipulate objects.

[0028] The number of robot fingers varies depending on the tasks required by the robot 100. For instance, the number of fingers can be between two and four fingers. A two- or three-finger robotic gripper may be suitable for picking up some types of objects but might not be suitable for picking up other objects such as books lined up in a stack or a liquid container with unstable momentum that might be spill-prone.

[0029] In another example, the robotic gripper comprises a vacuum gripper that grips objects through a suction cup. A vacuum gripper can be used for handling objects with uneven surfaces or irregular shapes. Such vacuum grippers can be with or without fingers. Without fingers, a vacuum gripper may be challenged to pick thin items that do not have a large surface to grip on.

[0030] In some cases, fingers may be combined with a suction cup. Such a vacuum gripper with fingers may similarly have difficulty picking up objects such as liquid containers and books. [0031] In another example, the fingers may be configured as soft grippers that are suitable for fragile objects such as glasses. However, such soft grippers might not be suitable for heavier objects, liquid containers, books, among other objects.

[0032] As such, existing gripper solutions are not configured to be sufficiently versatile to pick a variety of items in a high-mix environment. Particular grippers are suitable for a group of objects but not suitable other groups of objects. Thus, in a high-mix environment where a robot is required to pick and move a variety of items with different configuration, existing grippers may fail to pick all the items. Replacing grippers often to suit a particular group of items is not practical.

[0033] It may thus be desirable to provide a robotic gripper that is versatile. Disclosed herein are robotic grippers that can adapt to the shape and configuration of a variety of items in a high-mix of environment. Such robotic grippers increase the range of objects that can be picked with accuracy without tool changing, manual intervention, or causing objects to drop.

[0034] Particularly, disclosed herein is a robotic gripper having a plurality of arm assemblies coupled to a scissor frame. The scissor frame includes a first chassis coupled to a second chassis at a pivot located at respective intermediate points of the first chassis and the second chassis. In an example, one chassis is coupled to an actuator that can cause the chassis to rotate relative to the other chassis to change the deployment angle of the scissor frame.

[0035] Each chassis of the scissor frame can be coupled to two gripper arm assemblies, one gripper arm assembly being on one side of the pivot between the two chassis, and the other gripper arm assembly being on the other side of the pivot. Each arm assembly is configured to rotate or pivot relative to the chassis to which it is coupled. [0036] In an example, each arm assembly can include a four-bar arm linkage and a finger assembly that is pivotably- coupled to the four-bar arm linkage. Rotation of the chassis and pivoting motion of the four-bar arm linkage relative to the chassis are each controlled independently by a respective actuator. As such, each arm assembly provides at least two degree-of-freedom (DOF) motion. Having multiple arm assemblies coupled to the scissor frame provides a multiple DOF gripper that can adapt to a variety of objects in a high-mix environment.

[0037] Further, in one example, at least one gripper arm assembly is configured to allow for an extended range of motion of its finger. This way, such finger can be used to loosen or move an object that is disposed at an obstructer (e.g., at or near a wall or barrier or disposed at a corner) to facilitate picking such object with the robotic gripper.

[0038] Figure 2 illustrates a perspective view of a robotic gripper 200, Figure 3 illustrates a partial perspective view of the robotic gripper 200, and Figure 4 illustrates a top view of the robotic gripper 200, in accordance with an example implementation. Figures 2-4 are described together. The robotic gripper 200 can represent, for example, the robotic gripper 114 coupled to the second robot arm segment 110 of the robot 100.

[0039] As shown in Figure 3, the robotic gripper 200 includes a scissor frame 202. The scissor frame 202 has a first chassis 204 and a second chassis 206. The first chassis 204 and the second chassis 206 crisscross each other and are pivotably coupled to each other at a pivot 208 positioned at respective intermediate points of the first chassis 204 and the second chassis 206. Thus, the scissor frame 202 is configured as an X-shaped, scissor-like structure.

[0040] In an example, the first chassis 204 and the second chassis 206 can be configured as S- shaped links that intersect or crisscross at the pivot 208. The first chassis 204 and the second chassis 206 can be considered as the legs of the X-shaped, scissor-like structure of the scissor frame 202, where the legs intersect at the pivot 208. The pivot 208, which can be referred to as scissor hinge, is configured as a revolute joint that allows at least one of the first chassis 204 or the second chassis 206 to rotate relative to the other chassis about the pivot 208 to enable the legs to move in a scissor-like action and change the deployment angle. The term “deployment angle” of the scissor frame 202 is used herein to indicate the angle between adjacent legs of the first chassis 204 and the second chassis 206 (see angle in Figure 7).

[0041] The term “chassis” is used here to indicate a structure that can be referred to as a link or bar that is a portion of the scissor-like structure of the scissor frame 202. Further, the term “intermediate” describes the collective area between the two ends or end points of the respective chassis. An intermediate point is not necessarily at the middle or center of the respective chassis.

[0042] Rotation of the first chassis 204 or the second chassis 206 about the pivot 208 allows geometric transformations in the shape and configuration of the scissor frame 202. In the example configuration shown in the figures, the pivot 208 is located at respective centers of the first chassis 204 and the second chassis 206. However, in other example implementations, the pivot 208 can be located at other intermediate points between a first end 210 and a second end 212 of the first chassis 204 and between a first end 214 and a second end 216 of the second chassis 206.

[0043] By altering the location of the pivot 208, three types of structures can be obtained, which can be referred to respectively as translational, polar, and angulated structured. For a translational structure, a first line that connects the end 210 to the end 214 is parallel to a second line that connects the end 212 to the end 216. The first line and the second line may remain parallel during deployment of the scissor frame 202 (e.g., during rotation of the second chassis 206 relative to the first chassis 204 about the pivot 208). On the other hand, for the polar and angulated structures, the first line and the second line intersect at a point. The difference between the polar and angulated structures is that the angulated structure may have two identical angulated chassis, whereas the polar structure includes straight chassis. In the description and figures provided herein, the translational structure is used as an example; however, it should be understood that a polar or angulated structure could alternatively be used.

[0044] The first chassis 204 has a central cylindrical portion 218 that is hollow and connected to legs of the first chassis 204 via ribs such as rib 219. Similarly, the second chassis 206 has a central cylindrical portion 220 that is also hollow.

[0045] In the example configuration of Figure 3, the central cylindrical portion 218 of the first chassis 204 is disposed above the central cylindrical portion 220 of the second chassis 206. In other words, at the overlap between the first chassis 204 and the second chassis 206, where they crisscross at the pivot 208, the first chassis 204 is disposed above the second chassis 206.

[0046] The robotic gripper 200 incudes a shaft 222 disposed through the central cylindrical portion 218 of the first chassis 204, and the shaft 222 is coupled to the central cylindrical portion 220 of the second chassis 206. With this configuration, if the shaft 222 rotates, the second chassis 206 rotates therewith about the pivot 208 to deploy or fold the scissor frame 202 (i.e., increase or decrease the deployment angle between the legs of the chassis 204, 206).

[0047] Particularly, in the example implementations of Figures 2-3, the robotic gripper 200 can include a gear 224 (e.g., a spur gear) coupled to or integrated with the shaft 222. As shown in Figure 2, the robotic gripper 200 has an angular drive actuator or a deployment actuator 226 (e.g., electric, pneumatic, or hydraulic motor) having a rotor that is coupled to a deployment worm gear 228 (i.e., a worm screw) configured to have helical or spiral threads. The deployment worm gear 228 meshes with the gear 224, which operates as a worm wheel. Particularly, the helical threads of the deployment worm gear 228 are butted up against teeth of the gear 224. [0048] As the deployment actuator 226 is activated or commanded by a controller of the robot 100 to deploy or fold the scissor frame 202, the deployment worm gear 228 rotates with the rotor of the deployment actuator 226. Thus, the deployment worm gear 228 rotates against the gear 224, and the threads of the deployment worm gear 228 push on the teeth of the gear 224, thereby causing the gear 224 to rotate. As the gear 224 rotates, the shaft 222 rotates therewith, and the second chassis 206 pivots relative to the first chassis 204 to change the deployment angle 0 of the scissor frame 202. In other example implementations, the deployment actuator 226 can be coupled to the first chassis 204 instead of the second chassis 206.

[0049] The robotic gripper 200 also includes a plurality of gripper arm assemblies rotatably- coupled to the scissor frame 202. For example, the robotic gripper 200 includes four gripper arm assemblies. A gripper arm assembly 230 and a gripper arm assembly 232 are coupled to the first chassis 204, while a gripper arm assembly 234 and a gripper arm assembly 236 are coupled to the second chassis 206.

[0050] The gripper arm assembly 232 is described next as an example. The other gripper arm assemblies can be configured in a similar manner. The gripper arm assembly 232 is a multi-jointed arm and includes an arm linkage 238 and a finger 240. The finger 240 incudes a finger carrier 242, a finger frame 244, and a fingertip 246.

[0051] In the example implementation shown in Figures 2-3, the arm linkage 238 is configured as a four-bar mechanism including a driving arm link 248 (e.g., a crank or input link of the four-bar mechanism) pivotably-coupled to the second chassis 206 at a pivot 247 (see Figure 3), and also pivotably-coupled to the finger carrier 242 at a pivot 249. The arm linkage 238 also includes a driven arm link 250 that is pivotably coupled to a protrusion 251 protruding from the second chassis 206 at a pivot 252, and also pivotably-coupled to the finger carrier 242 at a pivot 254. With this configuration, the finger carrier 242 operates as the coupling link of four-bar mechanism of the arm linkage 238.

[0052] In the example implementation shown in Figures 2-3, the arm linkage 238 is configured as a parallelogram four-bar mechanism linkage. However, other types of four-bar linkages are contemplated.

[0053] As shown in Figures 2-3, a portion of an end of the driving arm link 248 is configured as an arm drive gear having spur gear teeth. The portion is referred to herein as arm drive worm wheel 256.

[0054] As shown in Figure 2, the robotic gripper 200 has a plurality of actuator brackets mounted to the scissor frame 202. Particularly, the robotic gripper 200 has an actuator bracket 258 and an actuator bracket 260 coupled to the first chassis 204. In an example, as shown in Figure 2, the actuator bracket 258 and the actuator bracket 260 can be integrated into a single structure that is mounted (e.g., via bolts) to the first chassis 204. Similarly, the robotic gripper 200 has an actuator bracket 262 and an actuator bracket 264 coupled to the second chassis 206. Figure 3 illustrates the robotic gripper 200 without the actuator brackets 258-264 to reveal details of the scissor frame 202.

[0055] Each bracket of the actuator brackets 258-264 operates as a housing for a respective arm actuator. For example, the actuator bracket 260 houses an arm actuator 266 (e.g., an electric, pneumatic, or hydraulic motor) mounted within the actuator bracket 260, and the actuator bracket 262 houses an arm actuator 268 (e.g., an electric, pneumatic, or hydraulic motor) mounted within the actuator bracket 262. As an example, each actuator bracket has four holes through which fasteners (e.g., screws, bolts, etc.) can be disposed. The respective arm actuator can have corresponding holes, and the fasteners can be mounted through the holes of the actuator bracket and the arm actuator to affix the arm actuator to the actuator bracket.

[0056] The arm actuator 266 is coupled to an arm drive worm gear 270 having helical or spiral threads that mesh with the teeth of the arm drive worm wheel 256. In other words, the helical threads of the arm drive worm gear 270 are butted up against teeth of the arm drive worm wheel 256.

[0057] When the arm actuator 266 is activated or commanded by the controller of the robot 100, the arm drive worm gear 270 rotates against the arm drive worm wheel 256. As the threads of the arm drive worm gear 270 push on the teeth of the arm drive worm wheel 256, the arm drive worm wheel 256 causes the driving arm link 248 to rotate about the pivot 247.

[0058] Due to the driving arm link 248 and the driven arm link 250 being coupled to the finger carrier 242, the driven arm link 250 is driven to rotate about the pivot 252 as the driving arm link 248 rotates about the pivot 247. Thus, by driving or activating the arm actuator 266, the arm linkage 238 can be rotated to different angular positions relative to first chassis 204, and the position of the finger 240 can be changed to corresponding positions.

[0059] In an example, due to the finger carrier 242 being pivotably coupled to the driving arm link 248 and the driven arm link 250, the finger 240 may maintain its orientation (e.g., vertical orientation) regardless of the angular position of the arm linkage 238.

[0060] Figure 5 illustrates a front view of the robotic gripper 200 with two gripper arm assemblies rotated upward and two gripper arm assemblies rotated downward, in accordance with an example implementation. As shown in Figure 5, the arm actuator 266 and the arm actuator 268 are activated to lift the arm linkage 238 of the gripper arm assembly 232 and the arm linkage of the gripper arm assembly 234 upward. On the other hand, the arm actuators of the gripper arm assemblies 230, 236 are activated to lower their respective arm linkages downward. Despite the different angles of the arm linkages, the fingers (e.g., the finger 240) maintain their vertical orientation.

[0061] However, in other example implementations contemplated herein, actuators can be positioned at one or more of the pivots that connect the fingers to their respective arm linkages (e.g., at the pivot 249 and/or the pivot 254). Such actuators can be used to change the angle that the finger makes with the arm linkage. This way, the fingers can be used to pinch on an object, or otherwise support the object at different angles when picking the object.

[0062] In other examples, as described below with respect to Figures 10-12, at least one finger is allowed to rotate further as the arm linkage stops. In other words, such finger has an extended range of motion. This configuration may allow the finger with an extended range of motion to move or loosen an object that is positioned near or interfacing with an obstructer (e.g., a corner or a wall of a bin) to facilitate picking such an object.

[0063] As such, each gripper arm assembly can have at least two degrees of freedom. The first degree of freedom is associated with rotation of the arm linkage (e.g., the arm linkage 238) and the finger (e.g., the finger 240) about pivots (e.g., the pivot 247, 252) relative to the scissor frame 202 due to actuation of the arm actuator (e.g., the arm actuator 266). The second degree of freedom is associated with deployment angle between the first chassis 204 and the second chassis 206. For instance, the deployment actuator 226 can be activated to rotate the second chassis 206 about the pivot 208, such that the deployment angle 0 between the gripper arm assemblies of the first chassis 204 and the respective gripper arm assemblies of the second chassis 206 changes. [0064] Figure 6 illustrates a perspective view of the robotic gripper 200 when the deployment actuator 226 is activated to increase the deployment angle of the scissor frame 202, and Figure 7 illustrates a top view of the robotic gripper 200 in the state shown in Figure 6, in accordance with an example implementation. As shown in Figures 6-7, the deployment actuator 226 can be commanded (e.g., by a controller of the robot 100) to increase the deployment angle (0) of the scissor frame 202. When the deployment actuator 226 is commanded, it rotates the deployment worm gear 228, which is engaged with the gear 224, and thus causes the gear 224 to rotate.

[0065] As mentioned above, the gear 224 is coupled to the shaft 222, which is in turn coupled to second chassis 206. Thus, as the gear 224 rotates, the shaft 222 and the second chassis 206 rotate relative to the first chassis 204, thereby increasing the deployment angle 0. The deployment angle can be changed in a continuum (e.g., between zero degrees and 60 degrees) based on the command to the deployment actuator 226.

[0066] Referring back to Figures 2-3, in an example, the finger frame 244 can be removably- coupled to the finger carrier 242. For instance, the finger frame 244 can have a tapered projection 271 (e.g., a tenon), which interlocks with a corresponding notch or recess (e.g., a mortis) in the finger carrier 242 to form a joint between the finger carrier 242 and the finger frame 244.

[0067] Similarly, the fingertip 246 can also be removably-coupled to the finger frame 244. For instance, the fingertip 246 can have one or more tapered projections (e.g., tenons) such as a tapered projection 272, a tapered projection 274, and a tapered projection 276, which interlock with corresponding notches or recesses (e.g., mortises) in the finger frame 244.

[0068] In this example, the fingertip 246 is replaceable and can be selected to be suitable for a particular application. In an example application, a stiff fingertip may be desirable. In this example, a fingertip made of a metallic or hard plastic material may be used. Further, the fingertip

246 can have one or more ribs, such as rib 278, to stiffen the fingertip 246.

[0069] In another example, a softer fingertip may be desirable. In this example, the fingertip 246 can be removed and replaced by a fingertip made of a softer plastic or rubber material. The number of ribs can also be changed to change the stiffness of the fingertip.

[0070] Further, based on the nature and configuration of the objects to be gripped by the robotic gripper 200, the fingertip 246 may have serrations 280 on a surface of the fingertip 246 that interfaces with an object being handled and moved by the robotic gripper 200. The serrations 280 may enhance grip on the objected. However, in other examples, a smooth surface for the fingertip may be desirable, and the fingertip 246 can be removed and replaced by such a fingertip with a smooth surface.

[0071] In an example, the fingertip 246 can be configured to have variable stiffness. In other words, the stiffness of the fingertip 246 can be varied to adapt to different stages of a picking operation and adapt to the configuration of the item being picked. For instance, as the finger 240 approaches an item and the fingertip 246 contacts the item, the fingertip 246 is made to be soft (i.e., made to be compliant and having low stiffness) so it does not damage the item and also to allow the fingertip 246 to conform to the shape of the item. The stiffness of the fingertip 246 can then be increased to make the fingertip 246 more rigid to lock the fingertip 246 in a conforming position about the item to achieve an optimal grip contact area between the fingertip 246 and the item.

[0072] Variable stiffness of the fingertip 246 can be achieved in several ways. For example, a granular jamming technique can be used where the fingertip 246 encloses granular materials, which is allowed to conform around the item to be picked. Once contact has been made around the item, a vacuum is generated within the fingertip 246, locking the fingertip 246 in a conforming position about the item. In an example, vacuum generation can be used alone without using granular materials within the fingertip 246.

[0073] In another example, the fingertip 246 can be made of an electro active polymer material, where passing an electric current through the electro active polymer material changes the stiffness thereof. Another example technique involves using shape memory alloys that can change shape and stiffness based on a magnitude of an electric current passing therethrough. In another example, the fingertip 246 includes a magnetorheological material that changes its stiffness based on a strength of a magnetic field applied to the magnetorheological material within the fingertip 246.

[0074] As mentioned above, the gripper arm assemblies 232, 234, 236 can be configured similar to the gripper arm assembly 230. As such, each of the gripper arm assemblies 232, 234, 236 can have an arm linkage similar to the arm linkage 238 and a finger similar to the finger 240.

[0075] Further, referring to Figures 2 and 3, the robotic gripper 200 can include a suction cup 282 coupled to the scissor frame 202 (e.g., coupled to the second chassis 206). As shown schematically in Figure 2, a vacuum generating device 284 (e.g., a blower) coupled to a tube 286 can be disposed through the shaft 222 and through the scissor frame 202 (e.g., through the first chassis 204 and the second chassis 206), and the tube 286 can be fluidly-coupled to the suction cup 282. With this configuration, the vacuum generating device 284 can be configured to generate a vacuum environment within the suction cup 282. The vacuum generating device 284 can be included in the robot 100 or can be part of a remote system that is fluidly-coupled to tube 286 of the robot 100 via conduits (e.g., tubes, pipes, hoses, etc.). [0076] As the robotic gripper 200 approaches an item to be picked, a vacuum environment can be generated within the suction cup 282, causing a suction force to be applied to the item, thereby drawing or pulling the item toward the suction cup 282. With this configuration of the robotic gripper 200, the suction cup 282 operates as a human thumb, whereas the gripper arm assemblies 230, 232, 234, and 236 operate as the remaining fingers of a human hand. In an example, the suction cup 282 can be extendable or can be mounted to a linear actuator that allows the suction cup 282 to extend to enable the robotic gripper 200 to adapt to different objects.

[0077] This human-like configuration of the robotic gripper 200 provides enhanced dexterity compared to existing grippers. Particularly, each gripper arm linkage can be controlled independently (via a respective arm actuator) in addition to the deployment angle 0 between the first chassis 204 and the second chassis 206 being independently controlled via the deployment actuator 226.

[0078] The configuration of the robotic gripper 200 offers enhanced versatility and adaptability that may facilitate picking a wide variety or high-mix of items. For example, Figures 6-7 illustrates the robotic gripper 200 in a four-finger configuration, which may be suitable for picking certain items that require four fingers controlled independently to capture the item.

[0079] The robotic gripper 200 can operate in other configurations due to the degrees of freedom it has. For example, rather than operating in a four-finger configuration, the deployment actuator 226 can maintain the deployment angle substantially zero (see Figure 4), and thus two of the gripper arms assemblies (e.g., the gripper arm assemblies 230, 234) can be actuated in unison such that they operate as a single large arm, while the two remaining gripper arm assemblies (e.g., the gripper arm assemblies 232, 236) also can be actuated in unison such that they operate as a respective single large arm, thereby rendering the robotic gripper 200 operating as a two-finger gripper.

[0080] In this example, the gripper arm assemblies 230, 234 can be controlled in tandem, and the gripper arm assemblies 232, 236 can also be controlled in tandem. In other words, the same command is sent to the arm actuators of the gripper arm assemblies 230, 234, such that the gripper arm assemblies 230, 234 move as one gripper arm. Similarly, the same command is sent to the arm actuators of the gripper arm assemblies 232, 236, such that the gripper arm assemblies 232, 236 move as one gripper arm. As such, the robotic gripper 200 operates in a two-finger configuration.

[0081] In another example, a particular item is best picked by a suction cup only, without fingers. The robotic gripper 200 is configured to operate in a vacuum-only configuration. Particularly, in such configuration, the arm linkages of all four gripper arm assemblies 230-236 are retracted and the suction cup 282 is extended and used to pick the item.

[0082] Further, the four-bar mechanism configuration of the arm linkages (e.g., the arm linkage 238) may provide several advantages. For example, the four-mechanism can operate as a force multiplier that enhances the gripping force at the fingertip 246 for a given torque applied at the arm drive worm wheel 256 by the arm actuator 266.

[0083] The versatility and various configurations in which the robotic gripper 200 can operate facilitate pick a variety of items in a high-mix environment. In some instance, the robotic gripper 200 can operate in a first configuration initially to perform an initial operation, and then switch to a different configuration to complete the picking operation. [0084] Several variations can be implemented to the robotic gripper 200. For example, rather than using worm gears and worm wheels, other types of gears could be used (e.g., spur gears, helical gears, etc.). In other examples, belts or chains could be used instead of gears. Various types of actuators could be used to actuate or move the arm linkages and change the deployment angle of the scissor frame 202.

[0085] Further, the gripper arm assemblies 230, 232, 234, 236 are described herein as being identical. However, in other example implementation, the gripper arm assemblies may differ. For instance, one or more gripper arm assemblies may have a particular type of fingertip, while others might have other types of fingertips. In another example, as described next, a finger of at least one of the gripper arm assemblies 230, 232, 234, 236 can be configured to have an extend range of motion to facilitate picking objects disposed near obstructers or corners.

[0086] Figure 8 illustrates a perspective view of a robotic gripper 800, in accordance with an example implementation. The robotic gripper 800 is similar to the robotic gripper 200 and similar components are designated with the same reference numbers.

[0087] The robotic gripper 800 has additional components relative to the robotic gripper 200 shown in Figures 2-7. For example, the robotic gripper 800 includes a structure 802 that is coupled to the actuator brackets 258, 260 via plate 804 and plate 806, for example. The structure 802 can include a base 808 that is offset from a printed circuit board (PCB) 810. A PCB mechanically supports and electrically connects electronic components (e.g., microprocessors, integrated chips (ICs), capacitors, resistors, etc.) using conductive tracks, pads, and other features etched from one or more sheet layers of copper laminated onto and/or between sheet layers of a non- conductive substrate. Components are generally soldered onto the PCB to both electrically connect and mechanically fasten them to it. [0088] The PCB 810 may include the controller of the robotic gripper 800. Particularly, the PCB 810 can include one or more microprocessors configured to receive inputs, commands, and sensors signals, and responsively control the various actuators of the robotic gripper 800, such as the deployment actuator 226 and the arm actuators 266, 268. As an example, the controller can include one or more processors and an inverter. The inverter can be configured as a power converter that converts direct current (DC) power received at the inverter to three-phase, alternating current (AC) power that is provided to wire windings of a stator to drive the various motors of the robotic gripper 800. The one or more processors of the controller can provide a pulse width modulated (PWM) signal to operate the power converter of the inverter, for example.

[0089] The robotic gripper 800 can have a valve 812 (pneumatic valve) that can extend or retract a pneumatic cylinder 816 to move the suction cup 282 closer to an object and retract the object when picked, for example. The valve 812 can be electrically -actuated and can receive command signals from the controller of the robotic gripper 800 (e.g., from the PCB 810). The vacuum generating device 284 generates a vacuum environment at the suction cup 282 as described above to apply suctions to objects to be picked. The structure 802 can also include an interface plate 814 to attach the robotic gripper 800 to the robot 100, for example.

[0090] Rather than the shaft 222 and the gear 224 used to drive the shaft 222 of the robotic gripper 200, the robotic gripper 800 is configured such that the deployment actuator 226 drives a cylindrical portion 818 that is coupled to the second chassis 206. The cylindrical portion 818 is hollow and the tube 816 is disposed therethrough.

[0091] Figure 9 illustrates a partial perspective view of the robotic gripper 800, in accordance with an example implementation. As shown in Figure 9, the robotic gripper 800 has a gear strip 900 mounted about an exterior peripheral surface (i.e., mounted to a circumference) of the cylindrical portion 818. The deployment worm gear 228 engages with the teeth of the gear strip 900 such that as the deployment actuator 226 rotates the deployment worm gear 228 about a longitudinal axis thereof, the gear strip 900 and the cylindrical portion 818 rotate about a longitudinal axis of the tube 816. This way, the deployment angle can be changed as described above with respect to Figures 6-7.

[0092] Referring back to Figure 8, the robotic gripper 800 includes at least on gripper arm assembly 820 that is configured such that its finger can have an extended range of motion. This configuration allows the robotic gripper 800 to pick objects that are disposed near an obstructer. The gripper arm assembly 820 replaces the gripper arm assembly 230 described above with respect to Figures 2-7. However, the arm actuator 266, the arm drive worm wheel 256, and the arm drive worm gear 270 can be used with the gripper arm assembly 820 as well.

[0093] The gripper arm assembly 820 is a multi -jointed arm and includes an arm linkage 822 and a finger 824. The arm linkage 822 is configured as a four-bar mechanism including a driving arm 826 (e.g., a crank or input linkage of the four- bar mechanism) pivotably coupled to the first chassis 204 at a pivot 828, and also pivotably-coupled to the finger 824 via a pivot pin 830. The arm linkage 238 also includes a driven arm 832 that is pivotably coupled to the first chassis 204, and also pivotably-coupled to the finger 824.

[0094] In the example implementation of Figure 8, the driving arm 826 includes three links. Particularly, the driving arm 826 can include a first link 834 and a second link 836 parallel to the first link 834. The first link 834 and the second link 836 can form a clevis, for example, and are configured to move and stop together. In an example, the first link 834 and the second link 836 can be replaced by a single link. The driving arm 826 also includes a cam link 838 disposed between the first link 834 and the second link 836. 1 [0095] Figure 10 illustrates a side view of the gripper arm assembly 820, in accordance with an example implementation. The second link 836 of the driving arm 826 has a slot 1000 in which the pivot pin 830 can travel as described below. The first link 834 also has a corresponding slot. The second link 836 also has a spring pin 1002 protruding therefrom.

[0096] The gripper arm assembly 820 includes an extension spring 1004. A proximal end of the extension spring 1004 is coupled to (e.g., wrapped around) the spring pin 1002, whereas a distal end of the extension spring 1004 is coupled to (e.g., wrapped around) the pivot pin 830.

[0097] As shown in Figure 10, the finger 824 incudes a finger carrier 1008, a finger frame 1010, and a fingertip 1012. The finger carrier 1008 operates a coupling link of four- bar mechanism of the arm linkage 822. The driven arm 832 is coupled to the first chassis 204 at a pivot 1014, and coupled to the finger carrier 1008 at a pivot 1016.

[0098] When the arm actuator 266 is activated or commanded by a controller of the robotic gripper 800, the arm drive worm gear 270 rotates against the arm drive worm wheel 256. As the threads of the arm drive worm gear 270 push on the teeth of the arm drive worm wheel 256, the arm drive worm wheel 256 causes the first link 834, the second link 836, and the cam link 838 of the driving arm 826 to rotate about the pivot 828.

[0099] Referring back to Figure 8, the actuator bracket 260 has a protrusion 840 that operates a hard stop for the first link 834 and the second link 836. Particularly, referring to Figures 8, 10 together, the driving arm 826 is configured such that the first link 834 and the second link 836 can rotate together in a clockwise direction from the perspective of Figure 10 until the first link 834 reaches the protrusion 840. Once the first link 834 reaches the protrusion 840, both the first link 834 and the second link 836 are precluded from moving further in the clockwise direction.

However, the cam link 838 is configured to continue rotating farther in the clockwise direction. [00100] Figure 11 illustrates a partial cross-sectional side view of the gripper arm assembly 820, in accordance with an example implementation. As depicted in Figure 11, the arm drive worm wheel 256 has a hub 1100 having a generally circular outer surface with two planar or flat portions such as flat portion 1102. The cam link 838 has a hole at its proximal end, and such hole receives the hub 1100 therethrough. The hole at the proximal end of the cam link 838 is bounded by a surface that matches a shape of the hub 1100, and thus has two flat portions that interface with the flat surfaces of the hub 1100. With this configuration, the cam link 838 is coupled to the hub 1100 such that as the hub 1100 rotates with the arm drive worm wheel 256, the cam link 838 rotates therewith.

[00101] A proximal end 1104 of the first link 834 and the second link 836 is shaped as a moon crescent (e.g., incomplete/half cylinder) and wrapped partially around the pivot 828. The hub 1100 further includes a groove 1106 that accommodates the proximal end 1104 of the first link 834. The groove 1106 has an edge 1108.

[00102] The cam link 838 is configured to interface with the pivot pin 830 in a manner that facilitates extending the range of motion of the finger 824. As the arm drive worm wheel 256 rotates in a counter-clockwise direction from the perspective of Figure 11, the first link 834, the second link 836, and the cam link 838 rotate therewith (rotate upward in Figure 11). As the first link 834 reaches the protrusion 840 in the actuator bracket 260 (see Figure 8), the first link 834 and the second link 836 are precluded from rotating further in the counter-clockwise direction. However, due to the space between an edge of the proximal end 1104 of the first link 834 and the edge 1108 of the groove 1106, the arm drive worm wheel 256, the hub 1100 and the cam link 838 can continue to rotate until the edge 1108 reaches the proximal end 1104 of the first link 834. In other words, the cam link 838 is decoupled from the first link 834 and the second link 836 for a portion of the rotary movement of the cam link 838 about the pivot 828.

[00103] Referring to Figures 10-11 together, as the cam link 838 continues to rotate, the pivot pin 830 can be dislodged from the distal end of the cam link 838 (e.g., the pivot pin 830 is released or dislodged from receptacle 1200 shown in Figure 12). Thereafter, the extension spring 1004 pulls the pivot pin 830 in the proximal direction, causing the pivot pin 830 to roll on and trace a cam surface 1110 of the cam link 838 as the cam link 838 continues to rotate. The shape of the cam surface 1110 determines the speed and profile of motion of the pivot pin 830 as it traces the cam surface 1110. Further, as the extension spring 1004 pulls the pivot pin 830 and the pivot pin 830 traces the cam surface 1110, the pivot pin 830 traverse the slot 1000 in the proximal direction causing the finger 824 to rotate outward.

[00104] Figure 12 illustrates a partial side view of the gripper arm assembly 820 showing the finger 824 in an unextended position and an extended position, in accordance with an example implementation. The unextended position is a labelled as position “A” and the extended position is labelled as position “B.”

[00105] As the pivot pin 830 traverses the slot 1000 in the proximal direction as shown in Figure 12 (compared to Figure 10), the finger 824 rotates in a clockwise direction. Particularly, the finger carrier 1008 rotates about the pivot 1016 relative to the driven arm 832, thereby extending the range of motion of the finger 824. With this configuration, the finger 824 can be used to move objects disposed near or at obstructers to facilitate picking such objects with the other three gripper arm assemblies of the robotic gripper 800, for example. As such, in some instances, the gripper arm assembly 820 can be used for proper positioning of the object to be picked, while the other gripper arm assemblies pick the object after it has been positioned by the gripper arm assembly 820 (e.g., after the object has been moved away from a corner or an obstructer). In other instances, however, all four gripper arm assemblies of the robotic gripper 800 are used to pick objects.

[00106] If the arm actuator 266 rotates the arm drive worm gear 270 in the opposite direction, the arm drive worm wheel 256 also rotates in an opposite direction, thereby causing the cam link 838 to rotate counter-clockwise from the perspective of Figure 12 (e.g., downward in Figure 12). The cam surface 1110 again interfaces with the pivot pin 830 causing the pivot pin 830 to move in the distal direction against the pulling force of the extension spring 1004. This continues until the pivot pin 830 reaches a pocket or receptacle 1200 formed at the distal end of the cam link 838 (i.e., returns to the position shown in Figure 11). This way, the finger 824 returns to the unextended position A.

[00107] As the cam link 838 rotates with the hub 1100 of the arm drive worm wheel 256, the hub 1100 re-engages with the proximal end 1104 of the first link 834 and/or the second link 836 (see Figure 11), such that the first link 834, the second link 836, and the cam link 838 move together.

[00108] The detailed description above describes various features and operations of the disclosed systems with reference to the accompanying figures. The illustrative implementations described herein are not meant to be limiting. Certain aspects of the disclosed systems can be arranged and combined in a wide variety of different configurations, all of which are contemplated herein.

[00109] Further, unless context suggests otherwise, the features illustrated in each of the figures may be used in combination with one another. Thus, the figures should be generally viewed as component aspects of one or more overall implementations, with the understanding that not all illustrated features are necessary for each implementation. [00110] Additionally, any enumeration of elements, blocks, or steps in this specification or the claims is for purposes of clarity. Thus, such enumeration should not be interpreted to require or imply that these elements, blocks, or steps adhere to a particular arrangement or are carried out in a particular order.

[00111] Further, devices or systems may be used or configured to perform functions presented in the figures. In some instances, components of the devices and/or systems may be configured to perform the functions such that the components are actually configured and structured (with hardware and/or software) to enable such performance. In other examples, components of the devices and/or systems may be arranged to be adapted to, capable of, or suited for performing the functions, such as when operated in a specific manner.

[00112] By the term “substantially” or “about” it is meant that the recited characteristic, parameter, or value need not be achieved exactly, but that deviations or variations, including for example, tolerances, measurement error, measurement accuracy limitations and other factors known to skill in the art, may occur in amounts that do not preclude the effect the characteristic was intended to provide.

[00113] The arrangements described herein are for purposes of example only. As such, those skilled in the art will appreciate that other arrangements and other elements (e.g., machines, interfaces, operations, orders, and groupings of operations, etc.) can be used instead, and some elements may be omitted altogether according to the desired results. Further, many of the elements that are described are functional entities that may be implemented as discrete or distributed components or in conjunction with other components, in any suitable combination and location.

[00114] While various aspects and implementations have been disclosed herein, other aspects and implementations will be apparent to those skilled in the art. The various aspects and implementations disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope being indicated by the following claims, along with the full scope of equivalents to which such claims are entitled. Also, the terminology used herein is for the purpose of describing particular implementations only, and is not intended to be limiting.

[00115] Implementations of the present disclosure can thus relate to one of the enumerated example implementation (EEEs) listed below.

[00116] EEE 1 is a robotic gripper comprising: a scissor frame comprising a first chassis and a second chassis, wherein the first chassis is pivotably-coupled to the second chassis at a pivot that is positioned at respective intermediate points of the first chassis and the second chassis; a plurality of gripper arm assemblies comprising: (i) a first gripper arm assembly coupled to the first chassis, (ii) a second gripper arm assembly coupled to the first chassis, (iii) a third gripper arm assembly coupled to the second chassis, and (iv) a fourth gripper arm assembly coupled to the second chassis; and a deployment actuator coupled to the first chassis or the second chassis, wherein the deployment actuator is configured to rotate the first chassis or the second chassis about the pivot to change a deployment angle of the scissor frame.

[00117] EEE 2 is the robotic gripper of EEE 1, further comprising: a shaft coupled to the first chassis or the second chassis; and a gear mounted to the shaft, wherein the deployment actuator is configured to rotate the gear and the shaft, thereby rotating the first chassis or the second chassis about the pivot.

[00118] EEE 3 is the robotic gripper of EEE 2, wherein the deployment actuator is configured to rotate a deployment worm gear that engages the gear mounted to the shaft, such that rotation of the deployment worm gear by the deployment actuator causes the gear and the shaft to rotate. [00119] EEE 4 is the robotic gripper of any of EEEs 1-3, wherein a gripper arm assembly of the plurality of gripper arm assemblies comprises an arm linkage that is pivotably coupled to a respective chassis of the first chassis or the second chassis, and wherein the robotic gripper further comprises: an actuator bracket mounted to the first chassis or the second chassis and configured to house an arm actuator configured to rotate the arm linkage relative to the respective chassis.

[00120] EEE 5 is the robotic gripper of EEE 4, wherein the arm linkage comprises a driving arm link that is pivotably-coupled to the respective chassis, wherein a portion of the driving arm link comprises an arm drive gear, wherein the arm actuator is configured to rotate the arm drive gear, thereby rotating the driving arm link relative to the respective chassis.

[00121] EEE 6 is the robotic gripper of EEE 5, wherein the arm drive gear is configured as an arm drive worm wheel, wherein the arm actuator is coupled to an arm drive worm gear that meshes with the arm drive worm wheel, such that the arm actuator is configured to rotate the arm drive worm gear, thereby rotating the arm drive worm wheel and the driving arm link.

[00122] EEE 7 is the robotic gripper of any of EEEs 5-6, wherein the arm linkage is configured as a four-bar linkage comprising the driving arm link and a driven arm link that is pivotably- coupled to the respective chassis, wherein the driven arm link is configured to rotate as the driving arm link rotates.

[00123] EEE 8 is the robotic gripper of any of EEEs 4-7, wherein the arm actuator is configured to drive the arm linkage to a first position at which the finger is disposed at a respective position, and wherein the arm actuator is configured to drive the arm linkage to a second position at which the finger is disposed at an extend position relative to the respective position. [00124] EEE 9 is the robotic gripper of EEE 8, wherein the arm linkage comprises at least one link and an cam link, wherein the at least one link and the cam link are pivotably coupled to the respective chassis, wherein the arm linkage comprises an arm drive gear, wherein the arm actuator is configured to rotate the arm drive gear, thereby rotating the at least one link and the cam link.

[00125] EEE 10 is the robotic gripper of EEE 9, wherein the at least one link comprises a slot, and wherein the arm linkage further comprises: a pivot pin disposed in the slot of the at least one link and disposed in a receptacle formed in the cam link; and an extension spring coupled to the pivot pin.

[00126] EEE 11 is the robotic gripper of EEE 10, wherein the actuator bracket includes a hard stop, wherein the arm actuator is configured to drive the at least one link and the cam link to rotate relative to the respective chassis until the at least one link reaches the hard stop, which causes the at least one link to stop, thereby placing the arm linkage at the first position and the finger at the respective position.

[00127] EEE 12 is the robotic gripper of EEE 11, wherein the arm actuator is configured to further drive the cam link to continue rotating while the at least one link is stopped, causing the pivot pin to be dislodged from the receptacle, wherein the cam link includes a cam surface, wherein the extension spring causes the pivot pin to trace the cam surface after being dislodged from the receptacle and traverse the slot of the at least one link, thereby causing the arm linkage to be placed in the second position and the finger to be disposed at the extended position.

[00128] EEE 13 is the robotic gripper of any of EEEs 9-12, wherein the at least one link comprises a first link and a second link parallel to the first link, and wherein the cam link is disposed between the first link and the second link. [00129] EEE 14 is the robotic gripper of any of EEEs 1-13, wherein a gripper arm assembly of the plurality of gripper arm assemblies comprises (i) an arm linkage that is pivotably coupled to a respective chassis of the first chassis or the second chassis, and (ii) a finger coupled to the arm linkage, and wherein the finger comprises: a finger carrier coupled to the arm linkage; a finger frame coupled to the finger carrier; and a fingertip that is removably-coupled to the finger frame.

[00130] EEE 15 is the robotic gripper of EEE 14, wherein the fingertip has serrations on a surface that interfaces with an object being handled by the robotic gripper.

[00131] EEE 16 is the robotic gripper of any of EEEs 14-15, wherein the fingertip comprises one or more ribs.

[00132] EEE 17 is the robotic gripper of any of EEEs 14-16, wherein the arm linkage is configured as a four-bar linkage having a driving arm link coupled to the finger carrier and a driven arm link coupled to the finger carrier, such that the finger carrier operates as a coupling link of the four-bar linkage.

[00133] EEE 18 is the robotic gripper of any of EEEs 1-17, further comprising: a suction cup coupled to the scissor frame; and a tube mounted through the scissor frame and fluidly-coupled to the suction cup, wherein the tube is configured to be fluidly-coupled to a vacuum generating device configured to generate a vacuum environment within the suction cup.

[00134] EEE 19 is the robotic gripper of EEE 18, wherein the first chassis or the second chassis comprises a cylindrical portion wrapped around the tube, and wherein the robotic gripper further comprises: a gear strip mounted about an exterior peripheral surface of the cylindrical portion, wherein the deployment actuator is configured to rotate the gear strip and the cylindrical portion, thereby rotating the first chassis or the second chassis about the pivot. [00135] EEE 20 is a robot comprising: a robot arm; and a robotic gripper coupled to the robot arm, wherein the robotic gripper comprises: a scissor frame comprising a first chassis and a second chassis, wherein the first chassis is pivotably-coupled to the second chassis at a pivot that is positioned at respective intermediate points of the first chassis and the second chassis, a plurality of gripper arm assemblies comprising: (i) a first gripper arm assembly coupled to the first chassis, (ii) a second gripper arm assembly coupled to the first chassis, (iii) a third gripper arm assembly coupled to the second chassis, and (iv) a fourth gripper arm assembly coupled to the second chassis, and a deployment actuator coupled to the first chassis or the second chassis, wherein the deployment actuator is configured to rotate the first chassis or the second chassis about the pivot to change a deployment angle of the scissor frame.