Robotic system with object handling mechanism for loading and unloading of cargo carriers

A method of operating a robotic system, the method comprising:

• rotating a first wheel along a support surface and/or a second wheel along a support surface to adjust a position of a chassis of the robotic system in a first translational degree of freedom;
• moving a first leg and/or a second leg in a vertical direction relative to a chassis to adjust the position of the chassis in a second translational degree of freedom different from the first translational degree of freedom, wherein the first wheel is coupled to the first leg, and wherein the second wheel is coupled to the second leg;
• rotating a first segment in a first rotational degree of freedom about a first joint with respect to a proximal conveyor;
• rotating a gripper in a second rotational degree of freedom about a second joint with respect to the first segment;
• moving an object in a proximal direction along a distal conveyor disposed on the gripper to the first segment;
• moving the object in the proximal direction along a first segment conveyor disposed on the first segment to the proximal conveyor;
• and
• moving the object in the proximal direction along the proximal conveyor.

A robotic unit, comprising:

• a chassis;
• a movable arm having a proximal end coupled to the chassis and a distal end opposite the proximal end;
• and
• an end effector, comprising:
• a frame having a proximal end region coupled to the distal end of the movable arm and a distal end region opposite the proximal end region;
• a plurality of conveyors carried by the frame and positioned to move an object toward the proximal end region of the frame;
• and
• a gripper assembly including a gripper element, wherein the gripper assembly is configured to move the gripper element to a first position at which the gripper element protrudes beyond the distal end region of the frame to pick up an object, a second position to place the object on an upper surface of one or more of the plurality of conveyors, and a third position below the upper surface such that the one or more of the plurality of conveyors move the object toward the proximal end region of the frame over the gripper element.

A robotic unit, comprising:

• a movable base;
• a movable arm having a proximal end coupled to the movable base at a first joint and a distal end opposite the proximal end, the movable arm comprising one or more conveyor elements operable to move a target object from the distal end to the proximal end, wherein the first joint is configured to allow the movable arm to pivot about a first axis and a second axis with respect to the movable base;
• an end effector coupled to a distal end of the movable arm;
• and
• a second joint coupled between the distal end of the movable arm and the end effector, wherein:
• the second joint is configured to allow the end effector to rotate about a third axis with respect to the second joint;
• the second joint is configured to rotate about a fourth axis with respect to the movable arm;
• and
• the second joint comprises a retractable component positioned on a first side of the second joint, wherein the second joint is configured to raise and lower the retractable component in response to a rotation of the end effector about the third axis.