JP7318135B2 - Structural load cell case for containing sensors in robotic systems - Google Patents

Description

Embodiments of the invention are in the field of robotic systems that use artificial intelligence, computer vision, and/or mechanical systems to perform pick-and-place applications, and more particularly to structural load cell cases for containing sensors within robotic systems. .

Descriptions in the background art are provided to assist in understanding the invention and its applications and uses, and may not constitute prior art.

Some have been used to pick objects and integrate sensors into robotic systems (e.g., pick-and-place robotic systems) to measure various object properties and conditions, such as weight and dimensions. There is an approach of These sensors can be, for example, load cells, which are force sensors that convert force into electrical signals that can be detected and measured to weigh an object of choice. However, many of these approaches do not protect against load cell damage from twisting, bending, and compression, are too bulky for use in cluttered containers, and operate only within a narrow range of load weights. and otherwise risk damage, be affected by compressed air or vacuum, or be unreliable.

It is therefore mechanically robust and compact, suitable for a variety of loads by limiting the transmitted forces, unaffected by compressed air or vacuum, and resistant to torsion, bending and compression that would damage the load cell. It would be an advance in the state of the art to provide a structural load cell case to house the load cell in a robotic system that prevents Incorporating such a structural load cell case with a load cell would be beneficial for a variety of applications such as load weighing, double picking detection, system adjustment in response to load weight, and limit switch implementation for object presence detection. It can also be used to maintain a pulling or pushing force during assembly.

That is the background against which the present invention was developed.

The present invention relates to a structural load cell case for a robotic pick and place system. More specifically, in various embodiments, the structural load cell case includes a base, an inner tube housing the load cell, and a roller sleeve. The base includes a flexible joint joined with the first portion of the load cell. The inner tube contains built-in air passages. The roller sleeve includes a plurality of roller bearings in contact with an inner tube, the inner tube being free to slide along the axis of the roller sleeve, and the inner tube to rotate and translate in directions other than the axis of the roller sleeve. is restricted.

In some embodiments, the flexible joint is a compression spring.

In some embodiments, the inner tube further includes an adapter plate for securing the second portion of the load cell to the inner tube.

In some embodiments, the structural load cell case further includes a plurality of pneumatic fixtures and an external flexible tube. A first pneumatic fitting of the plurality of pneumatic fittings connects the inner tube to the upper tube. A first pneumatic fitting is channeled through a built-in air passage to a second pneumatic fitting of a plurality of pneumatic fittings on the inner tube, which is the first pneumatic fitting of the outer flexible tube. Connect to the ends. A second end of the outer flexible tube connects to a third pneumatic fitting of the plurality of pneumatic fittings on the base. A third pneumatic fitting channels to a fourth pneumatic fitting of the plurality of pneumatic fittings. A fourth pneumatic fitting connects the base to the lower tube.

In some embodiments, the structural load cell case further includes an internal air channel and a flexible air fitting, the internal air channel connecting to the flexible air fitting.

In some embodiments, the inner tube further includes a manifold plate that houses the built-in air channels.

In some embodiments, the inner tube has a non-circular cross-sectional shape.

In some embodiments, the non-circular cross-sectional shape is hexagonal.

In some embodiments, the roller sleeve further comprises a plurality of sets of roller bearings, each set of roller bearings sliding along the wall of the inner tube.

In some embodiments, the structural load cell case further includes a spacer between a pair of roller bearings in the plurality of sets of roller bearings on the shared shoulder.

In some embodiments, the roller sleeve further includes a wheel bracket.

In some embodiments, a subset of multiple roller bearings rotate together by being on a shared shoulder screw secured to the roller sleeve.

In various embodiments, the invention is a robotic system that includes a structural load cell case for enclosing a load cell. A structural load cell case includes a base, an inner tube that houses the load cell, and a roller sleeve. The base includes a flexible joint joined with the first portion of the load cell. The inner tube contains built-in air passages. The roller sleeve includes a plurality of roller bearings in contact with an inner tube, the inner tube being free to slide along the axis of the roller sleeve, and the inner tube to rotate and translate in directions other than the axis of the roller sleeve. is restricted.

In some embodiments, the flexible joint is a compression spring.

In some embodiments, the inner tube further includes an adapter plate for securing the second portion of the load cell to the inner tube.

In some embodiments, the robotic system further includes a plurality of pneumatic fixtures and an external flexible tube. A first pneumatic fitting of the plurality of pneumatic fittings connects the inner tube to the upper tube. A first pneumatic fitting is channeled through a built-in air passage to a second pneumatic fitting of a plurality of pneumatic fittings on the inner tube, which is the first pneumatic fitting of the outer flexible tube. Connect to the ends. A second end of the outer flexible tube connects to a third pneumatic fitting of the plurality of pneumatic fittings on the base. A third pneumatic fitting channels to a fourth pneumatic fitting of the plurality of pneumatic fittings. A fourth pneumatic fitting connects the base to the lower tube.

In some embodiments, the robotic system further includes an internal air channel and a flexible air fitting, the internal air channel connecting to the flexible air fitting.

In some embodiments, the inner tube further includes a manifold plate that houses the built-in air channels.

In various embodiments, the present invention is a method for manipulating a structural load cell case containing a load cell for a robotic system, performing a pick-and-place application, and transmitting to the load cell through the structural load cell case. Including limiting the force to a predetermined limit and measuring the weight of the load using a load cell to the predetermined limit.

In some embodiments, the method further includes removing the effects of fluid pressure applied to the load cell.

Other aspects and embodiments of the invention include methods and processes that include the steps described herein, as well as processes and modes of operation of the systems and devices described herein.

Still other aspects and embodiments of the invention will become apparent from the detailed description of the invention when read in conjunction with the accompanying drawings.

The embodiments of the invention described herein are illustrative, not limiting. Embodiments will now be described, by way of example, with reference to the accompanying drawings.

1 illustrates an exemplary robotic system in accordance with some embodiments; 1 illustrates an exemplary robotic system in accordance with some embodiments; 1 illustrates an exemplary robotic system in accordance with some embodiments; An exemplary structural load cell case is shown in the context of a robotic system, according to one embodiment of the present invention. An exemplary structural load cell case, according to one embodiment of the present invention, is shown in the context of a robotic arm, including a vertical compliance mechanism, of a robotic system. An exemplary structural load cell case, according to one embodiment of the present invention, is shown in the context of a robotic arm of a robotic system, excluding vertical compliance mechanisms. 1 illustrates an exemplary structural load cell case coupled via flange clamps to a tube of a robotic arm of a robotic system, in accordance with one embodiment of the present invention; 1 illustrates an exemplary structural load cell case coupled via pneumatic fittings to a tube of a robotic arm of a robotic system, in accordance with one embodiment of the present invention. A see-through view of an exemplary structural load cell case is shown in the context of a robotic system end effector, in accordance with one embodiment of the present invention. FIG. 10 illustrates a see-through view of an exemplary structural load cell case coupled to a tube of an end effector of a robotic system, in accordance with one embodiment of the present invention; FIG. 10 illustrates a cross-sectional side view of an example structural load cell case, where the conduit system uses external flexible tubing for robotic systems, in accordance with one embodiment of the present invention. FIG. 11 shows an isometric view of an example structural load cell case, where the conduit system uses external flexible tubing for the robotic system, in accordance with one embodiment of the present invention. FIG. 11 shows various top and side views of an example structural load cell case, where the conduit system uses external flexible tubing for a robotic system, in accordance with one embodiment of the present invention. 1 illustrates a cross-sectional side view of an example structural load cell case with an internal air flow path for a robotic system, in accordance with one embodiment of the present invention; FIG. [0014] Figure 4 shows various half-side views of an example structural load cell case with internal airflow channels for a robotic system, in accordance with one embodiment of the present invention; FIG. 10 illustrates various side, top, and bottom views of an exemplary structural load cell case with internal airflow channels for a robotic system, in accordance with one embodiment of the present invention. 1 illustrates an exploded view of an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. FIG. 4B illustrates a top view of a roller sleeve of an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 4B illustrates a side view of a roller sleeve of an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 4 illustrates a cross-sectional view of a roller sleeve of an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 3 illustrates a cross-sectional view of a wheel bracket of an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. 10 shows various views of the inner subassembly of an example structural load cell case for a robotic system, according to one embodiment of the present invention. FIG. 4 shows an exploded view of some components of an example structural load cell case for a robotic system during assembly, according to one embodiment of the present invention. FIG. 4 shows an assembly view of some components of an example structural load cell case for a robotic system during assembly, according to one embodiment of the present invention. FIG. 10 illustrates a cutaway view of some components of an example structural load cell case for a robotic system during assembly, according to one embodiment of the present invention. FIG. 10 illustrates an exploded view of some components including the upper tube end of an example structural load cell case for a robotic system under assembly, according to one embodiment of the present invention. FIG. 10 illustrates an exploded view of an example structural load cell case for a robotic system with a dust cover being assembled, according to one embodiment of the present invention. FIG. 4 shows an assembly view of some components of an example structural load cell case for a robotic system during assembly, according to one embodiment of the present invention. 1 shows a schematic illustration of an example disassembled structural load cell case for a robotic system, in accordance with an embodiment of the present invention. FIG. 10 shows a histogram of results produced by performing a single picking load test with a 19 g load on an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. FIG. 10 shows a histogram of results produced by performing a double picking load test with a 19 g load on an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 11 shows a histogram of results produced by performing a single picking load test with a 204 g load on an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. FIG. 10 shows a histogram of results produced by performing a double picking load test with a 204 g load on an example structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 4 illustrates an exemplary flow diagram for operating a structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. 4 illustrates an exemplary flow diagram for detecting multiple picks using a structural load cell case for a robotic system, in accordance with one embodiment of the present invention; FIG. 4 illustrates an exemplary flow diagram for adjusting system operation in response to load weight using a structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 4 shows an exemplary flow diagram for using a structural load cell case for a robotic system as a limit switch, in accordance with one embodiment of the present invention; FIG. FIG. 4 shows an exemplary flow diagram for calibrating load cell measurements using a structural load cell case for a robotic system, in accordance with one embodiment of the present invention. FIG. 4 illustrates an exemplary flow diagram for operating a structural load cell case for a robotic system that limits the maximum positive force measured, in accordance with one embodiment of the present invention. FIG. 4 illustrates an exemplary flow diagram for operating a structural load cell case for a robotic system that eliminates the effects of fluid pressure applied to an end effector on load cell measurements, in accordance with one embodiment of the present invention. 1 provides a schematic representation of a server (management computing entity) according to one embodiment of the present invention; 1 provides an exemplary schematic representation of a client (user computing entity) that can be used with embodiments of the present disclosure;

Overview Embodiments of the present invention will now be described in detail with reference to the provided drawings.

In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, structures, devices, acts, and methods are shown using diagrams, use cases, and/or flow diagrams in order to avoid obscuring the invention. Although the following description contains many details for the purposes of illustration, those skilled in the art will appreciate that many variations and/or substitutions of the details suggested are within the scope of the invention. Similarly, while many of the features of the present invention are described with respect to or in conjunction with each other, those skilled in the art will appreciate that many of these features can be provided independently of other features. Accordingly, this description of the invention is set forth without loss of generality to, and without imposing limitations on, the invention.

Structural Load Cell Case Context within a Robotic System FIGS. 1A, 1B, and 1C illustrate an exemplary robotic system 100 in accordance with some embodiments of the present technology. The robotic system 100 is configured to manipulate a wide variety of objects 103, including novel objects that the system has not previously picked, placed, or even identified. In some embodiments, the robotic system is a pick, sort, and place robotic system.

In some embodiments, robotic system 100 includes an end effector, which further includes tools for manipulating objects. In some embodiments, the end effector and tool remain fixed relative to the robotic system while the position of the object is controlled. For example, the robotic system changes the slope or other properties of the surface on which the object rests and slides it into a fixed tool, such as a gripper or suction.

In other embodiments, end effectors and tools are attached to a motion device, such as mobile robotic arm 102 . Tools may include, for example, knives capable of slicing or poking an object, keys capable of opening locks, center punches capable of marking plates. In some embodiments, the tools are useful in pick, sort, and place robotic systems. Such tools may include grippers and suction. Although the description below discloses tools and related systems for pick, sort, and place robotic systems, embodiments useful for other types of tools will be readily apparent to those skilled in the art.

Pick, sort, and place robotic system 100 includes robotic arm 102 , various input and output components and structures such as sorting stand 150 and mounting table 180 . An operator 101 may supervise and assist the robotic arm (see FIG. 1A). In some cases, the sorting stand 150 and/or the mounting platform 180 are replaced by or are replaced by a conveyor 184, a wall shelf 186, and/or an automated guided vehicle (AGV) 188, as shown in FIG. 1B. including. The robot arm 102 identifies the object 103 from the packages 152 in the sorting stand 150, picks the object, and places the grabbed object at a position (for example, the place 182) in the table 180. As shown in FIG. 1C, the sorting stand 150 may include a support structure 154, which is a system of metal support members bolted together. The side of support structure 154 opposite robotic arm 102 may include an opening that allows a package (eg, package 152 ) or other container to be inserted into sorting stand 150 . Sorting stand 150 optionally includes a base 156 for supporting containers.

The pick, sort, and place robot system 100 also includes a control system 170 for monitoring and managing robot motion. A control system provides instructions and/or command signals to move (eg, rotate, extend, retract) various components of the robotic arm 102 . Control system 170 includes processor 171, memory 172 (eg, a persistent computer-readable storage medium), data link 173, communication interfaces, and other components. The control system may also include an optional cloud component 174 with a processor 175 and database 176 accessible over a local or remote network (eg, Internet).

Pick, sort, and place robotic system 100 also includes a vision system with vision processor 169, sensor device 160, and other components. Each sensor device 160 may have one or more cameras 162, various sensors 163 (eg, image, depth, visible light, and/or infrared sensors), barcode readers 164, or other components. In some instances, camera 162 captures image data that includes visible light data (eg, RGB data) and/or depth information (eg, how far objects in the image are from the camera). The captured image data is sent to the control system for processing. A vision system can have any number of sensors and cameras. The component can be supported by any robot, input/output component or structure and positioned elsewhere.

The pick, sort, and place robotic system 100 also includes a motion controller 177 . Vision processor 169 and motion controller 177 may be external or located within control system 170 . FIGS. 1A and 1B, for example, show an external motion controller 177 and vision processor 169 located within the control system.

The pick, sort, and place robotic system 100 may also include a light curtain system that includes multiple sensors 165 that generate a light curtain 166 . Pick, sort, and place robotic system 100 may also include LIDAR 167 . Light curtain systems and LIDAR can be used either for safety purposes (e.g., monitoring human movement around robotic systems) or for manipulation (e.g., detecting movement of objects or system components). The pick, sort, and place robotic system 100 may also include a lighting device 168 that can be dimmed depending on the color of the package or other environmental and operating factors.

The robotic arm 102 includes a base 104 for mounting to a support surface (eg, floor or some other support structure). Frame 106 is rotatably coupled to base 104 . Lower arm 108 is rotatably connected to frame 110 . Upper arm 112 is rotatably connected to lower arm 108 . End effector 114 is rotatably coupled to upper arm 112 . End effector 114 includes one or more tools 116 and tubes 115 . The end effector 114 and each tool 116 has a tool changer 117 portion to allow various tools to be compatible with the end effector 114 . Tool rack 118 is used to store and access various tools. Each tool slot on tool rack 118 has a tool sensor 119 to indicate the presence or absence of a tool. 1A and 1B show multiple grasping and suction tools, such as finger grippers and suction tools of various sizes. In the example of FIG. 1, gripper 116 is a pneumatic gripper. Other grippers can also be used, such as grasping fingers or other types of suction grippers. In some cases, end effector 114 is compliant and/or multi-purpose.

The pick, sort, and place robotic system 100 may also include a vacuum source 120 (e.g., a pump) or compressed air source 121 to provide the pressure necessary to use the tools, where vacuum represents negative pressure. , compressed air indicates positive pressure. Each source is controlled by a source switch 122 operable by the control system. A source selection switch 123 allows the control system to select the proper source to operate the tool currently in use. A hose 124 passes through the robot arm from the end effector to the source. Valve 125 allows the control system to select the pressure source or connect the hose to atmosphere (ie, no positive or negative pressure applied). A pressure sensor 126 allows the control system to monitor the pressure level inside the hose. The components of tool changer 127 allow for efficient and reliable tool change. A weight sensor 131 located on the end effector allows the control system to monitor the weight of the tool and its load (see FIG. 1A). In some embodiments, a tool wire 128 extending from the end effector to the base or frame of the robot arm allows the control system to determine whether a tool is attached to the end effector.

All components of control system 170 and vision system (eg, cameras and sensors) are connected through data link 173 . In addition, all components of the robotic system involved in movement or monitoring (e.g., motion controller 177, pump/select switch 122/123, valve 125, pressure sensor 126, tool sensor 119, lighting device 168) are controlled by control system 170. has a data link 173 to

When the robot system picks up a load using an end effector 114 with a load cell attached, the load cell converts the load's gravitational force, i.e., its weight, applied to the load cell into an electrical output that the robot system collects. It senses the weight of the cargo by acting as a transducer. However, most commercially available load cells are designed to process and measure force in only one dimension. If the load cell is subjected to forces in other directions, the resulting twisting or bending can damage the load cell and distort weight measurements.

In robotic pick-and-place applications, after a load has been picked or moved, it can be moved left and right alternately or rotationally due to inertia, especially if the robot arm is subjected to high accelerations or decelerations in various directions. can keep shaking. Such acceleration and deceleration are typically to perform efficient pick and place tasks. There are also effects between tubes, objects, and the environment.

To protect the load cell from these additional forces, the load cell is encased within a structural load cell case that is resistant to torsional and bending forces to ensure mechanical durability for long term use. Such a structural load cell case allows free and low-friction movement of several components to preserve weight measurement accuracy without damaging the load cell.

Relatedly, prior art designs may not limit the force transferred from the load to the load cell. Structural load cell cases disclosed herein are configured to limit the maximum positive force (e.g., pulling) or maximum negative force (e.g., pushing) measured by the load cell, which: Protect the load cell from exerting force beyond its allowable limits. Prior art structural load cell cases also do not allow for positive pressure (eg, compressed air) or negative pressure (eg, vacuum) applied to the end effector to affect the load being measured. In contrast, the structural load cell case disclosed herein eliminates the effects of fluid pressure applied to the pick and place tool on load cell measurements.

Finally, with various sensors, it is very difficult for users to obtain accurate measurements in dynamic environments. Typically, such load cells have drawbacks such as sensitivity to noise, low accuracy due to long distances to the load, and lack of strength for long-term repeated use. The structural load cell case described in this disclosure includes a system designed to address these shortcomings. Although it may require calibration whenever it is installed in a customized system that includes end effectors, the use of a structural load cell case allows fast and elastic repeated measurements of weight on a load. This also saves overall operating time without interrupting the movement of the robot arm, saving time in the long run. Structural load cell cases are therefore a robust solution for weighing picked objects during pick-and-place operations while maintaining high resistance to side loads, moment loads, torsional loads, and excessive compressive loads. I will provide a.

Interaction between system components In some embodiments, a pick and place robotic system includes a robotic arm with an end effector configured to have a tool attached to its distal end, a tool changer, a tool Includes racks, vision systems, and control systems. The tool changer further includes a robot arm mount and a tool mount. A tool rack includes one or more tool plates and a plurality of tools. The control system includes a processor, a persistent computer-readable storage medium, and multiple communication interfaces.

In some embodiments, at least one tool includes a tool mount of a tool changer at its proximal end. The robot arm mount is configured to attach to the tool mount, and at least one of the one or more tool plates includes a tool slot.

In some embodiments, each tool plate has only one tool slot. In other embodiments, the tool plate can have more than one tool slot. In one embodiment, the tool rack further includes one or more sensors associated with the tool slots, the one or more sensors configured to indicate the presence of tools within the tool slots.

In one embodiment, the control system receives data from each of the sensors on the tool rack and can determine at any given time whether a given tool has been placed in its slot in the tool rack.

In yet another embodiment, the tool mounting portion further includes a plurality of grooves, the plurality of grooves spatially corresponding to the tool slots on the tool plate.

The grooves allow tools to be slid into and removed from the tool rack in a robust and timely manner.

In one embodiment, the pick-and-place robotic system further includes a weight sensor at the distal end of the end effector that measures the weight of the attached tool and its load (e.g., one or more objects). configured as

A weight sensor may allow the control system to detect the presence or absence of the tool and the number of objects being carried by it.

In one embodiment, the pick and place robotic system further includes an electrical circuit, the electrical circuit configured to indicate the presence of a tool attached to the end effector. In one embodiment, the electrical circuit is tool wire.

A tool wire may be configured to contact the tool when the tool is attached to the end effector to communicate to the control system whether the tool is attached. In one embodiment, tool presence is determined electrically (eg, through detection of changes in wire impedance, current strength, voltage, etc.).

In one embodiment, tool wires run from the tool, through the end effector feedthrough, to a proximal portion of the robotic arm, such as its base or its frame, and information is communicated to the control system through a data link.

In some embodiments, the pick and place robotic system further comprises a plurality of input and output components, at least one output component corresponding to an object type, the plurality of input and output components comprising a sorting stand; Selected from the group consisting of packages, platforms, containers, package conveyors, object conveyors, wall shelves, automated guided vehicles (AGVs), and shelves.

Objects can be classified by type. The type of objects can be their shape (e.g., round vs. elongated objects), the material they are made of (e.g., plastic vs. metallic objects), their color, or their characteristics (e.g., fruit vs. vegetable, apple vs. orange). In one embodiment, objects with the same barcode or the same destination (eg, shipping address, destination department within an office or factory, etc.) belong to the same object type. In one embodiment, objects belonging to the same order (eg, they have the same order number) belong to the same object type. In one embodiment, each of the various output components (eg, containers in a sorting stand) are associated with distinct object types.

In some embodiments, the robotic arm and tool attachments further include through holes. In some embodiments, the through-holes communicate vacuum or compressed air between the attached tool and its corresponding source pump. In some embodiments, through holes include mechanical pass-throughs. In some embodiments, the through holes include electrical pass-throughs. In further embodiments, the robotic arm and tool attachments include a plurality of through holes, each of which can be of any of the types previously described.

In one embodiment, the pick and place robotic system further includes a first hose, and the through hole of the robotic arm attachment is coupled to the distal end of the first hose.

In one embodiment, the pick and place robotic system further includes a pressure sensor, the pressure sensor located on the first hose. Data (eg, pressure readings) from pressure sensors may indicate the presence or absence of an attached tool or picked object.

In one embodiment, the pick and place robotic system further includes a source pump, the source pump being coupled to the proximal end of the first hose, the source pump being selected from the group consisting of a vacuum pump and a compressed air pump. be done.

In systems operating using a single source pump, the first hose is hose 124, shown in FIGS. "Connect" means to allow the flow of air, vacuum, or pressure.

In another embodiment, the pick and place robotic system further includes a valve and one or more second hoses, wherein the valve directs the proximal end of the first hose from atmosphere and one or more second hoses. It connects to one valve output selected from the group consisting of:

In one embodiment, the pick and place robotic system further includes one or more source pumps, and at least one of the one or more second hoses valves output to one of the one or more source pumps. coupled, wherein at least one of the plurality of tools corresponds to one of the one or more source pumps, one of the one or more source pumps being a group consisting of a vacuum pump and a compressed air pump; is selected from

In systems operating with more than one source pump (e.g., one vacuum pump and one compressed air pump), the valve switches between the pumps or connects the tool to atmosphere (i.e., all (disconnect from the pump). In this case, the first hose is the distal portion of hose 124 shown in FIGS. 1A and 1B. Additionally, a second hose is required to connect the valve to each of the source pumps. A second hose, representing the proximal portion of hose 124 shown in FIGS. 1A and 1B, connects the valves to each of the source pumps.

In one embodiment, each source pump has a pump switch for activating it, and the pump select switch is a data link or any other form of control signal communication (e.g., electrical on/off signals). used by the control system to actuate the necessary pump switches through

In other embodiments, a fluid pump is used to control the tool. In this case, the through holes, hoses, pressure sensors, and valves are configured to operate with fluid.

In one embodiment, the vision system includes a vision processor, multiple vision communication interfaces, and one or more vision configurations selected from the group consisting of cameras, barcode readers, depth sensors, infrared sensors, light curtain systems, and LIDAR. At least one component of the vision system, including elements, is connected to the vision processor through the data link, and the vision processor is connected to the control system through the data link.

In one embodiment, the pick and place robotic system further includes an illumination source, the illumination source configured to emit multiple light intensities.

In one embodiment, the control system controls movement of the robotic arm through a motion controller. In one embodiment, the motion controller also controls the valves.

In one embodiment, data from pressure sensors, weight sensors, tool wires, vision system sensors, tool sensors, or any other component with a communication interface is sent to the control system at regular time intervals ( i.e. data push). In another embodiment, such data is sent only upon request from the control system (ie, data pull).

In one embodiment, the tool wire is configured to continuously and immediately provide information to the control system, through electrical signals, regarding the presence of the tool attached to the end effector.

Structural Load Cell Case Structure and Components FIG. 2A shows an exemplary structural load cell case 211 in the context of a robotic system 210, according to one embodiment of the present invention. In some embodiments, structural load cell case 211 is a component of weight sensor 131 and can be incorporated into the end of robotic arm 102 of robotic system 210, which is shown in FIGS. 1A, 1B, and 1C. It can be an embodiment of the robotic system 100 as described. Structural load cell case 211 can be designed to be modularly compatible with any type of end effector 114 so that it can be easily and quickly installed or replaced. In some embodiments, structural load cell case 211 is mounted along axial tube 115 (eg, 16 mm diameter). In some embodiments, the device uses an external air hose or fitting to pass vacuum from the end effector 114 to the downstream end effector tool 116 . In some embodiments, using an internal air flow path, the device passes vacuum from the end effector to the downstream end effector tool without the need for external air hoses or fittings.

FIG. 2B shows an exemplary structural load cell case 211 in the context of robotic arm 220, including vertical compliance mechanism 221, of robotic system 210, according to one embodiment of the present invention. In some embodiments, structural load cell case 211 is mounted between vertical compliance mechanism 221 and pick and place tool 116 (not shown).

FIG. 2C illustrates an exemplary structural load cell case 211 in the context of robotic arm 230 of robotic system 210, excluding vertical compliance mechanism 221, in accordance with one embodiment of the present invention.

FIG. 2D shows an exemplary structural load cell case 211 coupled via flange clamps 241 to axis 115 of robotic arm 240 of robotic system 210 in accordance with one embodiment of the present invention. In such embodiments, flange clamps 241 are used to attach structural load cell case 211 to vertical compliance mechanism 221 . This tube clamp attachment provides excellent flex resistance.

FIG. 2E shows an exemplary structural load cell case 211 coupled to the axis 115 of the robotic arm 250 of the robotic system 210 via pneumatic fixtures 251, in accordance with one embodiment of the present invention. In such an embodiment, structural load cell case 211 is attached to vertical compliance mechanism 221 via pneumatic fittings 251 .

FIG. 2F shows a see-through view 260 of an exemplary structural load cell case 261 in the context of robotic arm 102 of robotic system 210, in accordance with one embodiment of the present invention. The dashed border of casing 481 is for the convenience of the reader. The casing protects the internal components from impact and helps prevent dust and debris from accumulating on the internal components.

FIG. 2G shows a see-through view 270 of an exemplary structural load cell case 261 coupled to axis 115 of robotic arm 102 of robotic system 210, in accordance with one embodiment of the present invention. This figure shows the structural load cell case 261 from FIG. 2F in more detail. The purpose of the soft washer 271 is to soften the impact of the axial clamp 273 on the tube body 115 or the impact of the structural load cell case 261 on the tube body 115 . Those components impact when the robot arm 102 pushes the object down, the tube 115 slides, and the robot arm 102 moves back up.

FIG. 3A illustrates a cross-sectional side view of an example structural load cell case 310, where the conduit system uses external flexible tubing for robotic system 210, according to one embodiment of the present invention. Structural load cell case 310 employs a roller bearing system to isolate and measure vertical loads while rejecting side loads, bending moments, and torsional moments. The inner portion is free to move relative to a fixed roller assembly and both halves are connected by a load cell (eg force sensor) housed within a structural load cell case 310 . In some embodiments, a conduit system (eg, air flow path) channels fluid (eg, air) from the top to the bottom of the device. In some embodiments, the fixed and active halves of the assembly are connected by a flexible pneumatic tube, which allows transmission of vacuum pressure without restricting movement of the shaft (e.g., hex tube). enable

Structural load cell case 310 includes base 311 , inner tube 312 and roller sleeve 313 . Structural load cell case 310 and related systems are described herein in the vertical direction, which is the dimension along which force is measured by load cell 314, ie, the load cell housed by structural load cell case 310.

Inner tube 312 is the primary component that houses load cell 314 and protects it by transferring bending and shear forces from load cell 314 . This feature is useful when the robotic arm 102 is subjected to high accelerations or decelerations in various directions, which is typical in many efficient pick-and-place scenarios. Unless the bending and shear forces are removed, this acceleration or deceleration results in high forces being transferred to the load cell 314, which can affect the accuracy of the measurement and/or damage the load cell 314. In some embodiments, the top of load cell 314 is secured to adapter plate 315 , which in turn is secured to inner tube 312 by a plurality of screws 316 . In other embodiments, load cell 314 is attached directly to inner tube 312 .

A flexible joint 317 is positioned within the base 311 and couples with the load cell 314 to allow the load cell 314 to tilt or compress. In some embodiments, flexible joint 317 is a ball joint. In some embodiments, flexible joint 317 is a compression spring 317 (as shown in FIG. 3A). In some embodiments, the compression spring 317 is configured to allow the load cell 314 to move laterally (eg, it can slide alternately left and right in front of the assembly), which Ensure that load cell 314 is not placed under a side load.

In some embodiments, the joint includes a lock nut 318 that threads into the bottom of the load cell 314 and a compression spring 317 pushes against the load cell 314 . In some embodiments, the junction includes the lower portion of load cell 314 in direct communication with compression spring 317, which can be a one-piece, threaded and machined component. In some embodiments, one portion of lock nut 318 is surrounded by a plurality of low friction washers 319 A that allow load cell 314 to slide horizontally against compression spring 317 . In some embodiments, the bottom of the load cell 314 passes through the retention washer 321 and its oversized center hole allows the load cell 314 to slide horizontally and tilt. A retention washer 321 is secured to the base 311 by a screw 322 or other fastening mechanism. Retaining washer 321 contacts a plurality of low-friction washers 319 B, which allow load cell 314 to slide against retaining washer 321 .

Since the top of the load cell 314 is fixed to the inner tube 312 and the bottom of the load cell 314 is fixed to the base 311 , the relative movement between the top of the load cell 314 and the bottom of the load cell 314 is constrained by the roller sleeve 313 . , which prevents the inner tube 312 from bending or twisting relative to the base 311 . Roller sleeve 313 is secured to base 311 by screws 323 or other fastening mechanism. In some embodiments, roller sleeve 313 includes multiple roller bearings 324 that contact inner tube 312 to transmit bending and shear forces. Inner tube 312 is free to slide vertically along roller sleeve 313 guided by a plurality of roller bearings 324, but other movements, such as rotation and horizontal movement, are dependent on the geometry of inner tube 312 and roller sleeve 313. not allowed by it. In other embodiments, roller sleeve 313 includes multiple linear bearings or multiple air bearings that guide inner tube 312 as it slides vertically along roller sleeve 313 .

In some embodiments, structural load cell case 310 is configured to limit the maximum positive force (eg, pulling) or maximum negative force (eg, pushing) measured by load cell 314. . This is accomplished by limiting the extent to which inner tube 312 slides vertically along roller sleeve 313 . When the vertical slide reaches a limit on either side, the structural load cell case 310 prevents further sliding of the inner tube 312, which limits the range of force transmitted to the load cell 314. By properly designing the extent of vertical slide for a particular load cell 314, the load cell 314 is thus protected from the exertion of force beyond its allowable limits, which prevents the load cell 314 from being damaged.

Finally, in some embodiments, structural load cell case 310 includes a conduit system that moves fluid, eg, air, between the top and bottom of structural load cell case 310 . In some embodiments, the conduit system includes multiple pneumatic fittings. In such embodiments, the inner tube 312 includes built-in air passages 325 machined into the component. A first pneumatic fitting 326 connects the inner tube 312 to the upper tube 331 . In some embodiments, upper tube 331 is rigid. In other embodiments, lower tube 332 is non-rigid, ie, flexible. A first pneumatic fitting 326 is channeled through an embedded air passage 325 to a second pneumatic fitting 327 on the inner tube 312, which is an external flexible tube (the tube is shown in FIG. 3A). not). The second end of the outer flexible tube connects to a third pneumatic fitting 328 on base 311 , which is flowed to a fourth pneumatic fitting 329 that connects base 311 to lower tube 332 . put on. In some embodiments, lower tube 332 is rigid. In other embodiments, lower tube 332 is non-rigid, ie, flexible. Through a series of sealed channels, fluid, such as compressed air, can pass unimpeded from the upper tube 331 through the channels in the inner tube 312 and slide into the lower tube 332 . Another embodiment of a conduit system is shown in FIG. 3D. In some embodiments, first pneumatic fitting 326 and fourth pneumatic fitting 329 are clamp designs customized to fit upper tube 331 and lower tube 332 .

In some embodiments, the conduit system that moves the fluid has a positive pressure (e.g., compressed air) or negative pressure (e.g., vacuum) measured by the load cell 314 if the conduit system is transporting this pressure. Constructed so as not to affect the force. Thus, the effect of fluid pressure applied to the pick and place tool on measurements from load cell 314 is eliminated. This feature is an improvement over conventional load cell systems attached to pick-and-place robot end effectors, where positive or negative pressure affects the force measured by the load cell 314, causing the intended It causes inaccuracies in the measurements, eg the weight of the cargo picked up. For example, when picking up a cargo 103 with vacuum-operated suction, the vacuum pressure draws on the wall of the tube, shaft 115, or other conduit channel for vacuum, which increases the force measured by the load cell 314.

FIG. 3B shows an isometric view 320 of an example structural load cell case 310, where the conduit system uses external flexible tubing for robotic systems, in accordance with one embodiment of the present invention. In some embodiments, inner tube 312 has a non-circular (eg, polygonal) cross-section, which prevents rotation within roller sleeve 313 . In some embodiments, the roller sleeve 313 includes three sets of roller bearings 324, each set of roller bearings 324 sliding along one wall of the polygonal cross-section, the three sets being generally circular roller sleeves. Equidistantly spaced along 313 . In some embodiments, the polygonal cross-sectional shape is hexagonal.

FIG. 3C shows various top and side views 330 of an example structural load cell case 310, where the conduit system uses external flexible tubing for robotic systems, according to one embodiment of the present invention. do.

FIG. 3D shows a cross-sectional side view of an example structural load cell case 340 with an internal air channel 333 for a robotic system, in accordance with one embodiment of the present invention. Unlike load cell 310 , where the conduit system uses external flexible tubing to connect the top and bottom of the device, the conduit system of structural load cell case 340 includes internal air passages 333 and flexible air fittings 334 . In some embodiments, the internal air channel is part of roller sleeve 313 . In some embodiments, the flexible air fitting 334 is a component that bridges the gap between the two halves of the device without affecting weight measurements or compressing significantly under pressure.

Like the structural load cell case 310, the internal air flow path and flexible air fitting 334 can accommodate positive pressure (e.g., compressed air) or negative pressure (e.g., vacuum) if the internal air flow path is carrying this pressure. does not affect the force measured by load cell 314 .

In some embodiments, structural load cell case 340 further includes manifold plate 335 , which, like one of structural load cell cases 310 , houses built-in air flow passages 325 . Note that various permutations of these features are possible; with built-in air passages 325 or with manifold plate 335 of structural load cell case 340 . A manifold plate 335 bolts to the rest of the inner tube 312 . In some embodiments, the aforementioned flexible air fitting 334 connects manifold plate 335 to the internal air flow path, which creates a sealed pathway to the bottom of base 311 .

FIG. 3E shows various half-side views 350 of an example structural load cell case 340 with internal airflow channels 333 for a robotic system, in accordance with one embodiment of the present invention. Clamps 339 snugly attach flexible air fittings 334 to manifold plate 335 and the remainder of structural load cell case 340 .

FIG. 3F shows various side, top, and bottom views 360 of an example structural load cell case 340 with internal airflow channels 333 for a robotic system, in accordance with one embodiment of the present invention.

FIG. 4A shows an exploded view 410 of an example structural load cell case 340 for a robotic system, according to one embodiment of the invention. This view shows base 311 , inner tube 312 and roller sleeve 313 .

FIG. 4B shows a top view 420 of the roller sleeve 313 of the example structural load cell case 340 for a robotic system, according to one embodiment of the invention. In some embodiments, roller sleeve 313 further includes wheel bracket 422 , which allows the wheel to fit snugly against inner tube 312 . A plurality of screws 428 and rubber washers 429 secure wheel bracket 422 to roller sleeve 313 to provide a light preload force to roller bearings 324 . The roller bearings rotate about shoulder screws 424 .

FIG. 4C shows 430 a side view of the roller sleeve 313 of an example structural load cell case 340 for a robotic system, according to one embodiment of the invention. This view shows wheel bracket 422 , roller bearing 324 , spacer 423 and shoulder screw 424 .

FIG. 4D shows a cross-sectional view 440 of the roller sleeve 313 of an example structural load cell case 340 for a robotic system, according to one embodiment of the invention. In some embodiments, multiple roller bearings 324 , eg, a pair, rotate together by being on the same shoulder screw 424 , which is attached to roller sleeve 313 . In some embodiments, spacers 423 between roller bearings 324 on the same shoulder screw 424 keep the roller bearings 324 separate, which provides additional mechanical support to the inner tube 312 against which the roller bearings rotate. provide public support. In some embodiments, a plurality of shoulder screws 424, each holding a plurality of roller bearings 324, extends vertically along the side of roller sleeve 313, e.g. Aligned, one at the top and one at the bottom, so that the various zeniths of the walls of the inner tube 312 are supported.

FIG. 4E shows a cross-sectional view 450 of wheel bracket 422 of example structural load cell case 340 for a robotic system, according to one embodiment of the present invention.

FIG. 4F shows various views of an inner subassembly 460 of an example structural load cell case 340 for a robotic system, according to one embodiment of the invention. Inner subassembly 460 includes base 311 coupled to inner tube 312 .

FIG. 4G shows an exploded view 470 of some components of an example structural load cell case 340 for a robotic system under assembly, according to one embodiment of the present invention. In some embodiments, the user begins by cutting the upper shaft 331 and lower shaft 332 to lengths suitable for the application. The user then feeds sensor wires (“cables”) 471 through wire grommet 475 and upper shaft 331 . In some embodiments, a small zip tie (not shown) secures cable 471 to cable mount 472 (shown in FIG. 4H). The zip ties hold the wires in place and provide strain relief for the load cell 314 . This is an easy solution without rethinking the geometry. The user applies pressure to upper shaft 331 and lower shaft 332 and secures shaft clamp 479 using screws 474 . In some embodiments, the user applies threadlocker and sufficiently torques the screw 474 . The user applies pressure to the upper shaft 331 while tightening the upper shaft 331 with the collar head screw 474 . In some embodiments, the user adjusts the length of upper shaft 331 and lower shaft 332 as needed.

At this point, the structural load cell case 340 is as shown in FIG. 4H, which is an assembly drawing 480 of some components of the example structural load cell case 340 for the robotic system being assembled, according to one embodiment of the invention. indicates FIG. 4J shows a cutaway view 490 of some components of an example structural load cell case 340 for a robotic system during assembly, according to one embodiment of the present invention. FIG. 4K shows an exploded view 491 of some components, including the end of the upper shaft 331, of an example structural load cell case 340 for a robotic system under assembly, according to one embodiment of the present invention. Referring to FIG. 4K, the user then attaches soft washer 271 and tube body 115 to upper shaft 331 . The user feeds sensor cable 471 through wire grommet 475 and through a slit in wire clamp 476 . The user applies pressure to wire clamp 476 and wire grommet 475 to secure the wire in place with screw 477 . The user twists the screw 477 enough. The user then installs the tool changer and suction cups as desired. Finally, the user can attach the adapter fitting to the top of the tube.

In some embodiments, the user may install an extension cable (not shown) on the robot system to connect the load cell to the computer, leaving enough slack to damage the wire as the robot arm moves. to avoid.

FIG. 4L shows an exploded view 492 of the example structural load cell case 340 for a robotic system during assembly of the dust cover 481, according to one embodiment of the present invention. This view shows both halves of dust cover 481, which are clipped to base 311 and to each other.

FIG. 4M shows an assembly drawing 493 of some components of an example structural load cell case 340 for a robotic system during assembly, according to one embodiment of the present invention. The figure shows that the sensor wire 471 exits the dust cover 481 through a small recess in the dust cover 481 . The wire is then routed through the upper tube via wire grommet 475 .

FIG. 5 shows a diagram 500 of an example exploded structural load cell case 340 for a robotic system, according to one embodiment of the invention.

EXPERIMENTAL DATA Experiments were conducted on various structural load cell cases 340 having load cells 314, end effectors 114, and picked objects 103. FIG. In some embodiments, the specifications for the structural load cell case system are: 0.00 to 4.54 kg load detection range, ±5 g error measurement accuracy (relative to static measurements). Since the sensors are off-the-shelf, high-capacity sensors can be used. This gives a larger measuring range and a higher safe overload force. Measurement accuracy decreases on the lower side. In some embodiments, the force sensor is wired to a signal acquisition module that is off-board from the robotic system. A signal amplifier reads the electrical signal from the force sensor and communicates the value to the computer (eg, via TCP/IP) at a sufficiently high frequency (eg, 500 Hz).

FIG. 6A shows a histogram 610 of results produced by performing a single picking load test with a 19 g load on the example structural load cell case 340 for a robotic system, in accordance with one embodiment of the present invention. In this experiment, a 19 g load was picked 514 times by a robotic system equipped with a structural load cell case 340 containing a load cell 314 calibrated to measure the weight of the load. In 25 picks (4.9% of the total), load cell 314 weighed 9.5 grams, or less than half the actual weight of the shipment. In 35 picks (6.8% of the total), the load cell 314 weighed 28.5 g, or more than 1.5 times the actual weight of the shipment, which is a false double pick detection.

FIG. 6B shows a histogram 620 of the results produced by subjecting the example structural load cell case 340 for a robotic system to a double picking load test with a 19 g load, in accordance with one embodiment of the present invention. In this experiment, a load containing two identical 19 g objects (38 g total) was weighed 156 times by a robotic system equipped with a structural load cell case 340 containing a load cell 314 calibrated to measure the weight of the load. picked out. In 11 picks (4.5% of the total), load cell 314 weighed 28.5 g, or less than 1.5 times the actual weight of a single 19 g object, which is a single pick error. detection.

FIG. 6C shows a histogram 630 of results produced by performing a single picking load test with a 204 g load on the example structural load cell case 340 for a robotic system, in accordance with one embodiment of the present invention. In this experiment, a 204 g load was picked 113 times by a robotic system with a structural load cell case 340 containing a load cell 314 calibrated to measure the weight of the load.

FIG. 6D shows a histogram 640 of results produced by performing a double picking load test with a 204 g load on the example structural load cell case 340 for a robotic system, in accordance with one embodiment of the present invention. In this experiment, a load containing two identical 204 g objects (408 g total) was weighed 47 times by a robotic system equipped with a structural load cell case 340 containing a load cell 314 calibrated to measure the weight of the load. picked out.

Structural Load Cell Case in Operation FIG. 7A shows an exemplary flow diagram 710 for operating a structural load cell case 340 for a robotic system, according to one embodiment of the present invention. Flowchart 710 begins at step 711 by picking a load with a pick and place tool attached to load cell 314 encased in structural load cell case 340 . A pick-and-place tool can be, for example, a gripper, a suction cup, or a magnetic tool. At step 712 , the system uses load cell 314 to weigh the load. In some embodiments, at step 713, multiple measurements are taken and, at step 714, some processing is performed on the repeated measurements to generate output measurements. This can be used, for example, so that short outlier measurements are ignored or their impact is reduced. In some embodiments, one such process is averaging multiple measurements. In other embodiments, one such process is taking the median of multiple measurements. In some embodiments, the mean or median is taken from a subset of multiple measurements. The resulting power measurement is a weight measurement for the cargo.

FIG. 7B shows an exemplary flow diagram 720 for detecting multiple picks using a structural load cell case 340 for a robotic system, in accordance with one embodiment of the present invention. Flowchart 720 begins at step 721 by picking a load with a pick and place tool attached to load cell 314 encased in structural load cell case 340 . A pick-and-place tool can be, for example, a gripper, a suction cup, or a magnetic tool. At step 722, the system uses load cell 314 to weigh the shipment. In some embodiments, multiple measurements are taken at step 723 and some processing is performed on the repeated measurements at step 724 to generate output measurements. This can be used, for example, so that short outlier measurements are ignored or their impact is reduced. In some embodiments, one such process is averaging multiple measurements. In other embodiments, one such process is taking the median of multiple measurements. In some embodiments, the mean or median is taken from a subset of multiple measurements. The resulting power measurement is a weight measurement for the cargo.

At step 725, the system determines from the weight measurements obtained from step 724 whether the pick is a single pick or multiple picks. At step 726, if the pick is determined to be a single pick, the system continues to move the shipment as scheduled. Finally, at step 727, if the pick is determined to be a multiple pick, the system performs one operation. In some embodiments, this operation replaces picking. In other embodiments, this operation is to indicate that the pick is a multiple pick. In some embodiments, multiple picks are double picks.

FIG. 7C shows an exemplary flow diagram 730 for adjusting system operation in response to payload using structural load cell case 340 for a robotic system, in accordance with one embodiment of the present invention. Flowchart 730 begins at step 731 by picking a load with a pick and place tool attached to load cell 314 encased in structural load cell case 340 . A pick-and-place tool can be, for example, a gripper, a suction cup, or a magnetic tool. At step 732, the system uses load cell 314 to weigh the shipment. In some embodiments, multiple measurements are taken at step 733 and either an average or median measurement is determined from the multiple measurements at step 734 to produce a weight measurement for the cargo.

Finally, at step 735 the system adjusts its operation in response to the weight measurements obtained from step 734 . In some embodiments, the adjustment is to replace the load because it has been determined that the load is too heavy for the pick and place tool or other components of the system. In other embodiments, the adjustment is determining where to put the cargo. In other embodiments, the adjustment is to replace the pick and place tool. In another embodiment, the adjustment is to change the maximum acceleration that the robotic system components are commanded to use to move while handling the object. In other embodiments, adjusting is writing down or recording the weight measurement. In "gentle picking" mode, gravimetric recording is used to monitor the measured force that any arm tooling end exerts on a load or environment to pick fragile or delicate objects. This is the mode that can be used for picking. In other embodiments, regulation is controlling forces exerted on the load or the environment. Such control can be useful for manufacturing processes, such as grinding and insertion, or for maneuvering operations, such as pushing, pulling, or pulling down.

FIG. 7D shows an exemplary flow diagram 740 for using a structural load cell case 340 for a robotic system as a limit switch, according to one embodiment of the invention. Flowchart 740 begins at step 741 by taking repeated measurements from load cell 314 encased in structural load cell case 340 . Such manipulations can be used, for example, to detect whether there is a non-negligible force acting on load cell 314 . At step 742, some processing is performed on the repeated measurements to generate output measurements. This can be used, for example, so that short outlier measurements are ignored or their impact is reduced. In some embodiments, one such process is averaging measurements over a period of time. In other embodiments, one such process is taking the median value of measurements over a period of time. In some embodiments, the mean or median is taken from a subset of measurements over time. Finally, at step 743, the system adjusts operation in response to the power measurement obtained from step 742 exceeding a preset threshold. Exceeding a preset threshold triggers a limit switch implemented according to flowchart 740 . Adjustment of operation is, for example, suspension of operation. Flowchart 740 may be modified for use in operations, such as for maintaining pulling or pushing forces during assembly of parts. For example, force measurements can be monitored at specified time intervals, and end effector movement can be determined based on whether the force measurements deviate from a predetermined target range of values, or by how much the force measurements deviate from predetermined target values. adjusted based on whether A robotic system may employ a feedback control mechanism to maintain such pulling or pushing force. Additionally, the structural load cell case protects the load cell from lateral forces during such operations.

FIG. 7E shows an exemplary flow diagram 750 for calibrating load cell 314 measurements using structural load cell case 340 for robotic systems, in accordance with one embodiment of the present invention. Such calibration methods may be used to correct any load cell 314 measurement by absorbing any offset and/or scaling due to various factors, such as the wiring or structural load cell case 340 itself. . Flowchart 750 begins at step 751 by attaching an object to load cell 314 encased in structural load cell case 340, where the weight of the object is known. In some embodiments, the object is the end of an arm tool. In such embodiments, the system may replace the tool with a new tool and use the known weight of the new tool to calibrate the measurements of the loads picked by the new tool. At step 752, the system takes a measurement from load cell 314 to generate a measurement. In some embodiments, steps 751 and 752 are repeated for multiple objects of known weight to generate multiple measurements. At step 753, the system uses the measurement or measurements to generate a correction function. Finally, at step 754 , the system uses the correction function to adjust measurements from load cell 314 when a load is picked with a pick and place tool attached to load cell 314 .

FIG. 7F shows an exemplary flow diagram 760 for operating a structural load cell case 340 for a robotic system that limits the maximum positive force measured, in accordance with one embodiment of the present invention. Flowchart 760 begins at step 761 by picking a load with a pick and place tool attached to load cell 314 encased in structural load cell case 340 . A pick-and-place tool can be, for example, a gripper, a suction cup, or a magnetic tool. At step 762, if the force acting on structural load cell case 340 exceeds a predetermined limit, structural load cell case 340 limits the force transmitted to load cell 314 to a predetermined limit. At step 763, the system uses the load cell 314 to weigh the load up to a predetermined limit. The method described by flow chart 760 can be modified to similarly limit the maximum negative force measured, eg, structural load cell case 340 is pushed instead of pulled. The method described by flow chart 760 can be combined with any of the methods described above in ways obvious to those skilled in the art.

FIG. 7G illustrates an exemplary flow diagram 770 for operating a structural load cell case 340 for a robotic system that removes the effects of fluid pressure applied to the pick and place tool on load cell 314 measurements, in accordance with one embodiment of the present invention. show. Flowchart 770 begins at step 771 by picking a load with a pick and place tool attached to load cell 314 encased in structural load cell case 340 . A pick-and-place tool can be, for example, a gripper, a suction cup, or a magnetic tool. At step 772, if there is fluid pressure applied to the pick and place tool (e.g., positive pressure from compressed air, negative pressure from vacuum), structural load cell case 340 accounts for the effect of that fluid pressure on load cell 314. remove. At step 773, the system uses load cell 314 to weigh the shipment. The method described by flow chart 770 can be combined with any of the methods described above in ways obvious to those skilled in the art.

Implementation Using Computer Program Products, Methods, and Computing Entities The present invention can be implemented in a combination of hardware and/or software. An exemplary hardware and software operating environment for implementing an embodiment of the invention is described herein.

Embodiments of the disclosure may be implemented in a variety of ways, including computer program products, including articles of manufacture, and the like. A computer program product may be an application, program, program module, script, source code, program code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, and/or the like (herein (also referred to herein as executable instructions, executable instructions, computer program product, program code, and/or similar terms used interchangeably herein). . Such persistent computer-readable storage media includes all computer-readable media, including both volatile and nonvolatile media.

In one embodiment, the non-volatile computer-readable storage medium is a floppy disk, floppy disk, hard disk, solid state storage (SSS) (e.g., solid state drive (SSD), solid state card (SSC), solid state module (SSM), may include enterprise flash drives, magnetic tape, or any other persistent magnetic media, and/or the like Non-volatile computer-readable storage media may include punch cards, paper tape, optical mark sheets (or patterns of holes or other any other physical media bearing an optically recognizable indicia of BD), any other persistent optical media, and/or the like.Such non-volatile computer-readable storage media include read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only media, and/or the like. Special Purpose Memory (EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory (e.g., Serial, NAND, NOR, and/or the like), Multimedia Memory Card (MMC), Secure Digital (SD) It may also include memory cards, smart media cards, compact flash (CF) cards, memory sticks, and/or the like Additionally, non-volatile computer readable storage media may include conductive bridging random access memory (CBRAM), phase change Random Access Memory (PRAM), Ferroelectric Random Access Memory (FeRAM), Non-Volatile Random Access Memory (NVRAM), Magnetoresistive Random Access Memory (MRAM), Resistive Random Access Memory (RRAM), Silicon-Oxide-Nitride - may also include oxide-silicon memory (SONOS), floating junction gate random access memory (FJG RAM), Millipede memory, racetrack memory, and/or the like.

In one embodiment, the volatile computer-readable storage medium includes random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data Out Dynamic Random Access Memory (EDO DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDR SDRAM), Double Data Rate Type 2 Synchronous Dynamic Random Access Memory (DDR2 SDRAM), Double Data Rate Type 3 Synchronous Dynamic Random Access Memory (DDR3 SDRAM), Rambus Dynamic Random Access Memory (RDRAM), Twin Transistor RAM (TTRAM), Thyristor RAM (T-RAM), Zero Capacitor RAM (Z-RAM), Rambus Inline memory modules (RIMM), dual inline memory modules (DIMM), single inline memory modules (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, register memory, and/or the like can include those of Where embodiments are described using computer-readable storage media, other types of computer-readable storage media may be used in place of or in addition to the computer-readable storage media described above. It will be understood to obtain

As will be appreciated, various embodiments of the present disclosure may also be implemented as methods, apparatus, systems, computing devices, computing entities, and/or the like. As such, embodiments of the present disclosure are directed to an apparatus, system, computing device, computing entity, and/or the like that executes instructions stored on a computer-readable storage medium to perform certain steps or operations. can take shape. Accordingly, an embodiment of the present disclosure is an embodiment comprising an entirely hardware embodiment, an entirely computer program product embodiment, and/or a combination of a computer program product and hardware for performing certain steps or operations. can take shape.

Embodiments of the present disclosure are described with reference to block diagrams and flow diagrams. Accordingly, each block of the block diagrams and flow diagrams represents a computer program product, an entirely hardware embodiment, a combination of hardware and computer program product, and/or instructions, operations, steps on a computer readable storage medium for execution. , and similar terms used interchangeably (e.g., executable instructions, instructions for execution, program code, and/or the like); and/or the like. For example, retrieving, loading, and executing code may be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some example embodiments, fetching, loading, and/or execution may be performed in parallel such that multiple instructions are fetched, loaded, and/or executed together. Accordingly, such embodiments may produce specially configured machines that perform the steps or operations specified in the block diagrams and flow diagrams. Accordingly, the block diagrams and flow diagrams support various combinations of embodiments for performing the specified instructions, operations, or steps.

Exemplary System Architecture Exemplary embodiments of the present disclosure may include one or more servers (management computing entities), one or more networks, and one or more clients (user computing entities). Each of these components, entities, devices, systems, and similar terms used interchangeably herein may communicate directly or indirectly with each other, e.g., through the same or different wired or wireless networks. can. Additionally, although FIGS. 8 and 9 depict various system entities as separate, stand-alone entities, various embodiments are not limited to this particular architecture.

Exemplary Management Computing Entity FIG. 8 provides a schematic diagram of a server (management computing entity) 801 according to one embodiment of the present disclosure. In general, the terms computing entity, computer, entity, device, system, and/or similar terms used interchangeably herein can be used to refer to, for example, one or more computers, computing entities, desktop computers, mobile phones, , tablets, phablets, notebooks, laptops, distributed systems, game consoles, watches, glasses, iBeacons, proximity beacons, key fobs, radio frequency identification (RFID) tags, earphones, scanners, televisions, dongles, cameras, wristbands, Wearable items/devices, kiosks, input terminals, servers or server networks, blades, gateways, switches, processing equipment, processing entities, set-top boxes, relays, routers, network access points, base stations and the like, and/or this It may refer to any combination of devices or entities adapted to perform the functions, operations and/or processes described herein. Such functions, operations and/or processes are, for example, send, receive, act on, process, display, store, determine, create/generate, monitor, evaluate, compare, and/or are used interchangeably herein. may contain similar terms. In one embodiment, these functions, operations, and/or processes may be performed on data, content, information, and/or similar terms used interchangeably herein.

As shown, in one embodiment, managing computing entity 801 is capable of transmitting, receiving, acting on, processing, displaying, storing, and/or the like data, content, information, and/or information herein. It may also include one or more communication interfaces 820 for communicating with various computing entities, such as by communicating similar terms used interchangeably in the text.

As shown in FIG. 8, in one embodiment, a managing computing entity 801 has one or more processing elements 805 (processors, processing circuitry, and/or similar terms used interchangeably herein). As will be appreciated, processing element 805 can be embodied in a number of different ways. For example, processing element 805 may be embodied as one or more coupled programmable logic circuits (CPLDs), microprocessors, multicore processors, co-processing entities, application specific instruction set processors (ASIPs), microcontrollers, and/or controllers. can be Additionally, processing element 805 may be embodied as one or more other processing units or circuits. The term circuitry may refer to an entirely hardware embodiment or a combination of hardware and computer program product. Accordingly, processing element 805 may be embodied as an integrated circuit, application specific integrated circuit (ASIC), field programmable gate array (FPGA), programmable logic array (PLA), hardware accelerator, other circuitry, and/or the like. can be As will thus be appreciated, the processing element 805 may be configured for a particular use or may contain instructions stored in volatile or non-volatile media or otherwise accessible by the processing element 805 . can be configured to perform As such, processing element 805, whether configured by hardware or a computer program product, or a combination thereof, when configured in a suitable manner, performs steps or operations in accordance with embodiments of the present disclosure. It may be possible to perform

In one embodiment, managing computing entity 801 further includes non-volatile media (also referred to as non-volatile storage, memory, memory storage, memory circuitry, and/or similar terms used interchangeably herein). or communicate with non-volatile media. In one embodiment, the non-volatile storage or memory is hard disk, ROM, PROM, EPROM, EEPROM, flash memory, MMC, SD memory card, memory stick, CBRAM, PRAM, FeRAM, NVRAM, MRAM, RRAM, SONOS, FJG RAM , Millipede memory, racetrack memory, and/or the like. As will be appreciated, non-volatile storage or memory media may include databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, interpreted code. , machine code, executable instructions, and/or the like. The terms database, database instance, database management system, and/or similar terms used interchangeably herein refer to hierarchical database models, network models, relational models, entity-relationship models, object models, document models, semantics, It may refer to a collection of records or data stored in a computer-readable storage medium using one or more database models, such as models, graph models, and/or the like.

In one embodiment, managing computing entity 801 further includes volatile media (also referred to as volatile storage, memory, memory storage, memory circuitry, and/or similar terms used interchangeably herein). or communicate with volatile media. In one embodiment, the volatile storage or memory is RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDR SDRAM, DDR2 SDRAM, DDR3 SDRAM, RDRAM, TTRAM, T-RAM, Z-RAM, RIMM, DIMM , SIMM, VRAM, cache memory, register memory, and/or the like. As will be appreciated, volatile storage or memory media includes, for example, databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code being executed by processing element 805. , bytecode, compiled code, interpreted code, machine code, executable instructions, and/or the like. Accordingly, databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, bytecode, compiled code, interpreted code, machine code, executable instructions, and/or the like may be used to control certain aspects of the operation of managing computing entity 801 with the aid of processing element 805 and an operating system.

As shown, in one embodiment, managing computing entity 801 is capable of transmitting, receiving, acting on, processing, displaying, storing, and/or the like data, content, information, and/or information herein. It may also include one or more communication interfaces 820 for communicating with various computing entities, such as by communicating similar terms used interchangeably in the text. Such communication may be Fiber Distributed Data Interface (FDDI), Digital Subscriber Line (DSL), Ethernet, Asynchronous Transfer Mode (ATM), Frame Relay, Data Service Interface Standard Over Cable (DOCSIS), or any other wired transmission protocol. It may be implemented using a wired data transmission protocol such as. Similarly, the management computing entity 801 is responsible for General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 1X (1xRTT), Wideband Code Division Multiple Access (WCDMA). ), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution Data Optimization (EVDO ), High Speed Packet Access (HSPA), High Speed Downlink Packet Access (HSDPA), IEEE802.11 (Wi-Fi), Wi-Fi Direct, 802.16 (WiMAX), Ultra Wideband (UWB), Infrared (IR) protocol, Near Field Communication (NFC) protocol , Wibree, Bluetooth protocol, wireless Universal Serial Bus (USB) protocol, and/or any other wireless protocol to communicate over a wireless external communication network using any of a variety of protocols.

Although not shown, the managing computing entity 801 can handle keyboard input, mouse input, touch screen/display input, motion input, displacement input, voice input, pointing device input, joystick input, keypad input, and/or the like. may include or communicate with one or more input elements, such as those of Management computing entity 801 also includes one or more output elements (not shown), such as audio output, video output, screen/display output, motion output, displacement output, and/or the like, or can communicate with them.

As will be appreciated, one or more of the components of managing computing entity 801 may be remotely located from other managing computing entity 801 components, such as in a distributed system. Additionally, one or more of the components may be combined and additional components may be included in managing computing entity 801 to perform the functions described herein. Accordingly, the managing computing entity 801 can be adapted to accommodate different needs and environments. It should be recognized that these architectures and descriptions are provided for illustrative purposes only and do not limit various embodiments.

Exemplary User Computing Entities Users may be individuals, companies, organizations, entities, departments within organizations, representatives of organizations and/or persons, and/or the like. FIG. 9 provides an exemplary schematic diagram representing a client (user computing entity) 901 that can be used with embodiments of the present disclosure. In general, the terms device, system, computing entity, entity, and/or similar terms used interchangeably herein are used to refer to, for example, one or more computers, computing entities, desktops, mobile phones, tablets, phablets, notebooks, laptops, distributed systems, game consoles, watches, glasses, key fobs, radio frequency identification (RFID) tags, earphones, scanners, cameras, wristbands, kiosks, input terminals, servers or server networks, blades, Gateways, switches, processing devices, processing entities, set-top boxes, relays, routers, network access points, base stations, and the like, and/or perform the functions, operations, and/or processes described herein may refer to any combination of devices or entities adapted to User computing entity 901 can be operated by various parties. As shown in FIG. 9, user computing entity 901 transmits signals to antenna 912, transmitter 904 (eg, radio), receiver 906 (eg, radio), and transmitter 904 and receiver 906, respectively. may include a processing element 908 (eg, CPLD, microprocessor, multi-core processor, co-processing entity, ASIP, microcontroller, and/or controller) that provides and receives signals from transmitter 904 and receiver 906 .

Signals provided to and received from transmitter 904 and receiver 906 may each include signaling information according to the air interface standard of the applicable wireless system. In this regard, user computing entity 901 may be operable with one or more air interface standards, communication protocols, modulation formats, and access types. More specifically, user computing entity 901 may operate according to any of a number of wireless communication standards and protocols such as those described above with respect to administrative computing entity 801 . In particular embodiments, the User Computing Entity 901 supports UMTS, CDMA2000, 1xRTT, WCDMA, TD-SCDMA, LTE, E-UTRAN, EVDO, HSPA, HSDPA, Wi-Fi, Wi-Fi Direct, WiMAX, UWB, It may operate according to multiple wireless communication standards and protocols such as IR, NFC, Bluetooth, USB, and/or the like. Similarly, user computing entity 901 may operate according to multiple wired communication standards and protocols such as those described above with respect to management computing entity 801 via network interface 920 .

Through these communication standards and protocols, User Computing Entity 901 communicates with Unstructured Supplementary Service Data (USSD), Short Message Service (SMS), Multimedia Messaging Service (MMS), Dual Tone Multi-Frequency Signaling (DTMF). , and/or various other entities using concepts such as Subscriber Identity Module Dialers (SIM Dialers). User computing entity 901 can also download modifications, add-ons, and updates to its firmware, software (eg, including executable instructions, applications, program modules), and operating system, for example.

According to one embodiment, user computing entity 901 may include positioning aspects, devices, modules, functions, and/or similar terms used interchangeably herein. For example, user computing entity 901 may, for example, obtain latitude, longitude, altitude, geocode, course, direction, bearing, speed, universal time (UTC), date, and/or various other information/data. Outdoor positioning aspects may be included, such as adapted location modules. In one embodiment, the position module can obtain data, sometimes known as ephemeris data, by identifying the number of satellites in view and their relative positions. The satellites may be various, including the Low Earth Orbit (LEO) satellite system, the Department of Defense (DOD) satellite system, the European Union Galileo Positioning System, the Chinese Compass Navigation System, the Indian Regional Navigation Satellite System, and/or the like. It can be different satellites. Alternatively, location information may be obtained by connecting with various other systems, including mobile communication towers, Wi-Fi access points, and/or the like, to triangulate the location of User Computing Entity 901. can decide. Similarly, User Computing Entity 901 is adapted to obtain, for example, latitude, longitude, altitude, geocode, course, direction, bearing, speed, time, date, and/or various other information/data. Indoor positioning aspects may be included, such as location modules. Parts of indoor systems include RFID tags, indoor beacons or transmitters, Wi-Fi access points, cellular towers, nearby computing devices (e.g., smartphones, laptops), and/or the like. Any positioning or position technique may be used. For example, such technologies may include iBeacons, Gimbal proximity beacons, Bluetooth Low Energy (BLE) transmitters, NFC transmitters, and/or the like. These indoor positioning aspects can be used in a variety of settings to determine the location of someone or something to within inches or centimeters.

User computing entity 901 may also include a user interface (which may include display 916 coupled to processing element 908) and/or a user input interface (coupled to processing element 908). For example, a user interface executes on the user computing entity 901 to interact with and/or display information from the managing computing entity 801, as described herein, and/or or user application accessible by user computing entity 901, browser, user interface, and/or similar terms used interchangeably herein. A user input interface may be any number of inputs that allow the user computing entity 901 to receive data, such as a keypad 918 (hard or soft), touch display, voice/speech or motion interface, or other input device. It can include either a device or an interface. In embodiments that include a keypad 918, keypad 918 includes conventional numeric (0-9) and related keys (#, *), as well as other keys used to operate user computing entity 901. (or have them displayed) and may include a complete set of alphanumeric keys or a set of keys that may be actuated to provide a complete set of alphanumeric keys. In addition to providing input, the user input interface can be used to activate or deactivate certain functions, such as screensavers and/or sleep modes, for example.

User computing entity 901 may also include volatile storage or memory 922 and/or non-volatile storage or memory 924, which may be embedded and/or removable. For example, non-volatile memory includes ROM, PROM, EPROM, EEPROM, flash memory, MMC, SD memory card, memory stick, CBRAM, PRAM, FeRAM, NVRAM, MRAM, RRAM, SONOS, FJG RAM, Millipede memory, racetrack memory. , and/or the like. Volatile memory includes RAM, DRAM, SRAM, FPM DRAM, EDO DRAM, SDRAM, DDR SDRAM, DDR2 SDRAM, DDR3 SDRAM, RDRAM, TTRAM, T-RAM, Z-RAM, RIMM, DIMM, SIMM, VRAM, cache memory , register memory, and/or the like. Volatile and non-volatile storage or memory includes databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte It can store code, compiled code, interpreted code, machine code, executable instructions, and/or the like. As shown, this includes user applications that reside on the entity or are accessible through a browser or other user interface to communicate with the managing computing entity 801 and/or various other computing entities. obtain.

In another embodiment, user computing entity 901 may include one or more components or functions that are the same as or similar to administrative computing entity 801, as described in further detail above. It should be recognized that these architectures and descriptions are provided for illustrative purposes only and do not limit various embodiments.

Additional implementation details Although exemplary processing systems have been described above, implementations of the subject matter and functional operations described herein can be implemented in other types of digital electronic circuits or in the structures disclosed herein. and structural equivalents thereof, or in any combination of one or more thereof.

Embodiments of the subject matter and operations described herein may be implemented in digital electronic circuitry or in computer software, firmware, or hardware, including the structures disclosed herein and their structural equivalents. , or a combination of one or more thereof. Embodiments of the subject matter described herein may be encoded on a computer storage medium for execution by, or for controlling the operation of, an information/data processing apparatus. Any of the above can be implemented as one or more modules of computer programs or computer program instructions. Alternatively, or additionally, the program instructions can be encoded onto an artificially-generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, for execution by an information/data processing device. is generated to encode the information/data for transmission to appropriate receiver equipment. A computer storage medium can be or include a computer readable storage device, a computer readable storage substrate, a random or sequential access memory array or device, or a combination of one or more thereof. Further, although a computer storage medium is not a propagated signal, a computer storage medium can be the source or destination of computer program instructions encoded within an artificially generated propagated signal. A computer storage medium can also be or include one or more separate physical components or media (eg, multiple CDs, disks, or other storage devices).

The operations described herein are implemented as operations performed by an information/data processing apparatus on information/data stored on one or more computer readable storage devices or received from other sources. can.

The term "data processor" refers to any kind of apparatus, device, for processing data, including, by way of example, programmable processors, computers, systems-on-chip, or any number or combination of the foregoing, and machinery. The device may include dedicated logic circuitry, such as FPGAs (Field Programmable Gate Arrays) or ASICs (Application Specific Integrated Circuits). The apparatus includes, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., processor firmware, protocol stacks, database management systems, operating systems, cross-platform runtime environments, virtual machines, Or code that constitutes a combination of one or more thereof. Devices and execution environments can implement a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures.

A computer program (also known as a program, software, software application, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages. , it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, object, or other unit suitable for use in a computing environment. A computer program may or may not correspond to a file in a file system. A program may be within a portion of a file that holds other programs or information/data (e.g., one or more scripts stored within a markup language document); within a single file dedicated to the program in question; or in multiple coordination files (eg, files containing one or more modules, subprograms, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

The processes and logic flows described herein involve one or more programmable processors executing one or more computer programs to perform operations by operating on input information/data and generating output. can be executed by Processors suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor receives instructions and information/data from read-only memory or random-access memory or both. The essential elements of a computer are a processor for performing operations according to instructions and one or more memories for storing instructions and data. Generally, a computer also includes one or more mass storage devices, such as magnetic, magneto-optical or optical disks, for storing data, or for receiving information/data from or transmitting information/data to it. Operably coupled for storage or both. However, a computer need not have such devices. Devices suitable for storing computer program instructions and information/data include, by way of example, semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; Includes all forms of non-volatile memory, media and memory devices including CD-ROM and DVD-ROM discs. The processor and memory may be supplemented by, or incorporated in, dedicated logic circuitry.

To provide user interaction, embodiments of the subject matter described herein use a display device, such as a CRT (cathode ray tube) or LCD (liquid crystal display) monitor, for displaying information/data to a user. , and a computer with a keyboard and pointing device, such as a mouse or trackball, by which a user can provide input to the computer. Other types of devices can also be used to provide interaction with the user, e.g., the feedback provided to the user can be any form of sensory feedback, e.g., visual, auditory, or tactile feedback; Input from may be received in any form, including acoustic, voice, or tactile input. In addition, the computer can send documents to a device used by a user and receive documents from that device, e.g. You can interact with users by sending web pages.

Embodiments of the subject matter described herein include back-end components, e.g., as information/data servers, or middleware components, e.g., application servers, or front-end components, such as For example, a computing system, including as a client computer having a graphical user interface or web browser through which a user can interact with an embodiment of the subject matter described herein, or one or more such backends, middleware, or frontends. It can be implemented with any combination of end components. The components of the system can be interconnected by any form or medium of digital information/data communication, eg, a communication network. Examples of communication networks include local area networks (“LAN”) and wide area networks (“WAN”), internetworks (eg, the Internet), and peer-to-peer networks (eg, ad-hoc peer-to-peer networks).

The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. In some embodiments, the server sends information/data (e.g., HTML pages) to the client device (e.g., displays information/data to a user interacting with the client device and receives user input from the user). to receive). Information/data generated at the client device (eg, results of user interactions) can be received at the server from the client.

Although this specification contains specific embodiment details, these should not be construed as limitations on the scope of any embodiment or anything that may be claimed, but rather as a description of features unique to a particular embodiment. It should be. Certain features that are described in this specification in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination. Moreover, while features are described above as operating in a combination, and may even be originally claimed as such, one or more features from the claimed combination may, in some instances, be in combination with and a claimed combination may cover subcombinations or variations of subcombinations.

Similarly, although operations have been shown in the figures in a particular order, this does not mean that such operations are performed in the specific order shown, or in any order shown, to achieve a desired result. should not be understood to require that all operations are performed. Multitasking and parallel processing may be advantageous in certain situations. Furthermore, the separation of various system components in the above-described embodiments should not be understood to imply that such separation is required in all embodiments, and the described program components and system are generally implemented as a single piece of software. It should be understood that products can be integrated together or packaged into multiple software products.

Accordingly, specific embodiments of the subject matter have been described. Other embodiments are within the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes illustrated in the accompanying drawings do not necessarily require the particular order or order shown to achieve desirable results. In some implementations, multitasking and parallel processing may be advantageous.

In some embodiments of the invention, the entire system can be implemented and made available to end-users and operators over the Internet, a so-called cloud implementation. No local installation of software and hardware is required, and end-users and operators are permitted to access the system of the present invention directly over the Internet using either a web browser or similar software on their clients, Clients can be desktops, laptops, mobile devices, and the like. This eliminates the need for custom software installation on the client side, improves flexibility in service delivery (software-as-a-service), and increases user satisfaction. and enhance usability. Various business models, revenue models, and delivery mechanisms for the present invention are envisioned and all considered within the scope of the present invention.

In general, the methods performed to implement embodiments of the present invention may be part of an operating system or a particular application, component, program, object, module or "computer program(s)" or "computer code". may be implemented as a sequence of instructions called A computer program typically contains one or more sets of instructions in various memory and storage devices within a computer at various times when it is read and executed by one or more processors in the computer. , causes a computer to perform the operations necessary to implement the elements with the various aspects of the invention. Furthermore, although the present invention has been described in the context of fully functional computers and computer systems, those skilled in the art will appreciate that various embodiments of the present invention can be distributed as program products in various forms, and that the present invention will be understood to apply equally regardless of the particular type of machine or computer-readable medium actually used to accomplish the distribution. Examples of computer readable media include recordable type media such as volatile and nonvolatile memory devices, floppy and other removable disks, hard disk drives, compact disk read only memory (CD ROM), digital versatile disk (DVD ), optical discs, and digital and analog communication media.

Those skilled in the art will appreciate that the use cases, structures, schematics, and flow diagrams can be implemented in other sequences or combinations without departing from the broader scope of the invention. I know it. Every embodiment is unique and methods/steps can be shortened or lengthened, superimposed with other activities, deferred, delayed, and continued after intervals to implement the method of the invention. .

CONCLUSION Many modifications and other embodiments of the disclosure described herein will be apparent to those skilled in the art to which these embodiments pertain having the benefit of the teachings presented in the foregoing descriptions and the associated drawings. will come to mind. Therefore, it is to be understood that the embodiments are not limited to the particular embodiments disclosed, and that other embodiments are intended to be included within the scope of the appended claims. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Although the invention has been described with reference to specific exemplary embodiments, it is understood that various modifications and changes can be made to these embodiments without departing from the broad scope of the invention. it is obvious. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense. It should also be apparent that the foregoing embodiments are specific examples of a single, broader invention that may have broader scope than the specific description taught. There can be many alternatives made in the description without departing from the scope of the invention.

Claims (20)

A structural load cell case for a robotic system for containing a load cell, said load cell adapted to measure force , said structural load cell case comprising:
a base adapted to couple to a load , the base comprising a flexible joint coupled to the first portion of the load cell;
an inner tube accommodating the load cell;
a roller sleeve outside the inner tube, the roller sleeve comprising a plurality of roller bearings in contact with the inner tube;
with
said inner tube is adapted to slide along the axis of said roller sleeve ;
A structural load cell case wherein said inner tube is restricted from rotating and translating in directions other than the axis of said roller sleeve . The structural load cell case of claim 1, wherein said flexible joint is a compression spring. The inner tube is
2. The structural load cell case of claim 1, further comprising an adapter plate securing a second portion of said load cell to said inner tube. The structural load cell case includes:
further comprising multiple pneumatic fittings and an external flexible tube;
a first pneumatic fitting of the plurality of pneumatic fittings connecting the inner tube to the upper tube;
The first pneumatic fixture mounts a second of the plurality of pneumatic fixtures onto the inner tube via a built-in air flow path that connects to the first end of the outer flexible tube. Add a flow path to the pneumatic fixture,
a second end of the outer flexible tube connects to a third one of the plurality of pneumatic fittings on the base;
the third pneumatic fixture channels to a fourth pneumatic fixture of the plurality of pneumatic fixtures;
2. The structural load cell case of claim 1, wherein said fourth pneumatic fitting connects said base to a lower pipe. 2. The structural load cell case of claim 1, wherein said inner tube comprises a built-in air passage adapted for carrying fluid. an internal airflow channel fluidly connected to the built-in airflow channel;
a flexible air fitting fluidly connected to the internal air flow path;
6. The structural load cell case of claim 5, further comprising: The inner tube is
6. The structural load cell case of claim 5, further comprising a manifold plate that houses said built-in air passages. The structural load cell case of claim 1, wherein said inner tube has a non-circular cross-sectional shape. 9. The structural load cell case of claim 8, wherein said non-circular cross-sectional shape is hexagonal. The structural load cell case of claim 1, wherein said plurality of roller bearings slide along walls of said inner tube. 11. The structural load cell case of claim 10, further comprising a spacer between a pair of said plurality of roller bearings on a shared shoulder. The structural load cell case of Claim 1, wherein said roller sleeve further comprises a wheel bracket. 2. The structural load cell case of claim 1, wherein a subset of said plurality of roller bearings rotate together and reside on a shared shoulder screw secured to said roller sleeve. 2. The structural load cell case of claim 1, wherein the structural load cell case limits forces transmitted to the load cell to a predetermined limit. A robotic system comprising a structural load cell case for containing a load cell, said load cell adapted to measure force , said structural load cell case comprising:
a base adapted to couple to a load , the base comprising a flexible joint coupled to the first portion of the load cell;
an inner tube accommodating the load cell;
a roller sleeve outside the inner tube, the roller sleeve comprising a plurality of roller bearings in contact with the inner tube;
with
said inner tube is adapted to slide along the axis of said roller sleeve ;
A robotic system, wherein the inner tube is restricted from rotating and translating in directions other than the axis of the roller sleeve . 16. The robotic system of claim 15, wherein said flexible joints are compression springs. The inner tube is
16. The robotic system of claim 15, further comprising an adapter plate that secures the second portion of the load cell to the inner tube. 16. The robotic system of claim 15, wherein the inner tube comprises built-in air channels adapted to carry fluid. an internal airflow channel fluidly connected to the built-in airflow channel;
a flexible air fitting fluidly connected to the internal air flow path;
19. The robotic system of claim 18, further comprising: The inner tube is
19. The robotic system of claim 18, further comprising a manifold plate containing said built-in air channels.

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