Robotic end-of-arm tools and methods of use

Abstract

End-of-arm tools to be coupled to a robotic arm and configured to handle structural lumber objects are disclosed as are methods of use for such. The end-of-arm tools comprise opposing jaws to grip the lumber objects. The opposing jaws are coupled to a rigid frame via a four-bar linkage providing mechanical advantage and over-center functionality. An actuated extractor extends between the opposing jaws to engage the lumber object upon release. Assemblies of multiple end-of-arm tools coupled together are also disclosed.

1 - 20 . (canceled) 
     
     
         21 . An end-of-arm tool for a robotic arm, the end-of-arm tool comprising:
 a frame to be coupled to the robotic arm;   a first jaw coupled to the frame at a first distal end of the frame, the first jaw comprising:
 a first face; 
 a first top flange extending away from the first face by a first length, the first length based on a width dimension of a lumber object to be gripped by the end-of-arm tool; and 
 a first plurality of teeth extending away from the first face, the first plurality of teeth comprising teeth of varying heights; 
   a second jaw coupled to the frame at a second distal end of the frame, wherein the first jaw is configured to be positioned towards the second jaw to define a gripping configuration of the end-of-arm tool, and wherein the first jaw is configured to be positioned away from the second jaw to define an open configuration of the end-of-arm tool; and   a first actuator operably coupled to the first jaw and the second jaw to position the first jaw and the second jaw in the gripping configuration and the open configuration.   
     
     
         22 . The end-of-arm tool of  claim 21 , wherein the first length is half or less than half of the width dimension of the limber object. 
     
     
         23 . The end-of-arm tool of  claim 21 , wherein the first length is greater than the width dimension of the lumber object. 
     
     
         24 . The end-of-arm tool of  claim 21 , wherein the first plurality of teeth comprises a first subset of taller teeth and a second subset of shorter teeth. 
     
     
         25 . The end-of-arm tool of  claim 24 , wherein each taller tooth of the first subset of taller teeth is flanked on each side by a shorter tooth of the second subset of shorter teeth. 
     
     
         26 . The end-of-arm tool of  claim 21 , wherein the second jaw further comprises:
 a second face;   a second top flange extending away from the second face by a second length, the second length based on the width dimension of the lumber object to be gripped by the end-of-arm tool; and   a second plurality of teeth extending away from the second face, the second plurality of teeth comprising teeth of varying heights.   
     
     
         27 . The end-of-arm tool of  claim 26 , wherein a separation distance between the first face and the second face is greater than or equal to the width dimension of the lumber object when the end-of-arm tool is disposed in the gripping configuration. 
     
     
         28 . The end-of-arm tool of  claim 21 , further comprising:
 a lever link connected to the frame;   a first transfer link connected to the lever link and a jaw link connecting the first jaw to the frame; and   a second transfer link connected to the lever link and the first actuator,   wherein actuation of the first actuator is configured to cause rotation of the lever link via the second transfer link; and   wherein rotation of the lever link is configured to cause rotation of the jaw link via the first transfer link.   
     
     
         29 . The end-of-arm tool of  claim 21 , wherein the first jaw is connected to the frame via a first jaw link and a second jaw link, and wherein the second jaw is connected to the frame via a third jaw link and a fourth jaw link. 
     
     
         30 . The end-of-arm tool of  claim 21 , further comprising a second actuator, wherein the first actuator and the second actuator are positioned along a longitudinal axis, and wherein the second actuator comprises a plunger configured to extend between the first jaw and the second jaw to contact the lumber object. 
     
     
         31 . An end-of-arm tool for a robotic arm, the end-of-arm tool comprising:
 a frame to be coupled to the robotic arm;   a first jaw coupled to the frame at a first distal end of the frame, the first jaw comprising:
 a first face; and 
 a first plurality of teeth extending away from the first face, the first plurality of teeth comprising teeth of varying heights; 
   a second jaw coupled to the frame at a second distal end of the frame, the second jaw comprising:
 a second face; and 
 a second plurality of teeth extending away from the second face, the second plurality of teeth comprising teeth of varying heights, wherein the second face is parallel to the first face, wherein the first jaw is configured to be positioned towards the second jaw to define a gripping configuration of the end-of-arm tool, and wherein the first jaw is configured to be positioned away from the second jaw to define an open configuration of the end-of-arm tool; and 
   a first actuator operably coupled to the first jaw and the second jaw to position the first jaw and the second jaw in the gripping configuration and the open configuration.   
     
     
         32 . The end-of-arm tool of  claim 31 , wherein each of the first plurality of teeth and the second plurality of teeth comprises a first subset of taller teeth and a second subset of shorter teeth. 
     
     
         33 . The end-of-arm tool of  claim 32 , wherein each taller tooth of the first subset of taller teeth is flanked on each side by a shorter tooth of the second subset of shorter teeth. 
     
     
         34 . The end-of-arm tool of  claim 31 , wherein a separation distance between the first face and the second face is greater than or equal to a width dimension of a lumber object when the end-of-arm tool is disposed in the gripping configuration. 
     
     
         35 . The end-of-arm tool of  claim 31 , further comprising a second actuator, wherein the first actuator and the second actuator are positioned along a longitudinal axis, and wherein the second actuator comprises a plunger configured to extend between the first jaw and the second jaw to contact the lumber object. 
     
     
         36 . The end-of-arm tool of  claim 31 , wherein the first jaw comprises a first top flange extending away from the first face by a first length and the second jaw comprises a second top flange extending away from the second face by a second length. 
     
     
         37 . The end-of-arm tool of  claim 31 , wherein the first face comprises a first opening and the second face comprises a second opening, the first opening and the second opening configured to receive a frame extension portion of the frame. 
     
     
         38 . A method of handling a lumber object, comprising:
 providing an end-of-arm tool coupled to a robotic arm, the end-of-arm tool comprising:
 opposing jaws operably coupled to a first actuator, wherein actuating the first actuator disposes the opposing jaws in one of a gripping configuration and an open configuration; 
   positioning, using the robotic arm, the end-of-arm tool in relation to a lumber object such that the opposing jaws are disposed on opposite sides of the lumber object;   disposing the end-of-arm tool in the gripping configuration so as to grip the lumber object;   moving the lumber object from a first location to a second location;   disposing the end-of-arm tool in the open configuration so as to release the lumber object;   displacing the lumber object relative to the opposing jaws; and   repositioning, using the robotic arm, the end-of-arm tool away from the lumber object.   
     
     
         39 . The method of  claim 38 , wherein gripping the lumber object comprises penetrating a surface of the lumber object with a plurality of teeth disposed on the opposing jaws in the gripping configuration. 
     
     
         40 . The method of  claim 39 , wherein releasing the lumber object comprises separating the plurality of teeth from the surface of the lumber object in the open configuration.