Vacuum-based grippers

Abstract

A gripping tool includes a vacuum manifold, a flexible membrane, and vacuum channels connected in parallel between the vacuum manifold and the flexible membrane. Each of the vacuum channels includes a compliant conduit, a vacuum check valve, and a suction cup. The vacuum check valve is biased to a closed state and is configured to switch from a closed state to an open state when a vacuum source applies a vacuum in the vacuum manifold and a suction cup of the vacuum channel is engaged by an object. Each of the check valves independently switches between a closed state and an open state so that when a vacuum is drawn in the vacuum manifold, a vacuum is maintained in the vacuum manifold and in the compliant conduit of the vacuum channel engaged with the suction cup.

Description

Technical Field

[0001] The present disclosure belongs to the technical field of vacuum-based gripping tools. More specifically, the present disclosure relates to a gripping tool including suction cups coupled in parallel to a vacuum manifold, wherein vacuum is applied only to the suction cups that engage an object. Background Art

[0002] End-of-arm tools are used on robotic arms for many functions, including grasping and moving objects. For example, a gripper end-of-arm tool can be used to grasp an object by gripping the side of the object. While gripper end-of-arm tools are effective tools for grasping and moving objects, gripper end-of-arm tools have many disadvantages. In some cases, the intended destination of an object may be in a location where the gripper end-of-arm tool cannot operate properly. For example, if the intended destination of an object is inside an open carton, the intended location of the object may not have enough space between the object and the side of the carton to allow the gripper end-of-arm tool to be positioned along the side of the object. Even if there is enough space between the object and the side of the carton to allow the gripper end-of-arm tool to be positioned along the side of the object, the intended location of the object may not have enough space between the object and the side of the carton to allow the gripper end-of-arm tool to open after the object is in the intended location. If the gripper end-of-arm tool opens in these situations, the gripper end-of-arm tool may damage or deform the carton. Advantageously, a gripper tool allows objects to be placed in locations where previous end-of-arm grippers could not place objects. Summary of the invention

[0003] This Summary is provided to introduce some concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0004] In a first embodiment, a gripping tool includes a vacuum manifold configured to be coupled to a vacuum source, a flexible membrane conforming to a non-planar surface of an object, and a plurality of vacuum channels coupled in parallel between the vacuum manifold and the flexible membrane. Each of the plurality of vacuum channels includes: a compliant conduit having a proximal end coupled to the vacuum manifold and a distal end coupled to the flexible membrane; a vacuum check valve coupled to the proximal end of the compliant conduit; and a suction cup coupled to the distal end of the compliant conduit. The vacuum check valve is biased to a closed state and configured to switch from a closed state to an open state when a vacuum source applies a vacuum in the vacuum manifold and the suction cup is engaged by the object. Each of the check valves in the plurality of vacuum channels is configured to switch independently between a closed state and an open state, so that when the vacuum source applies a vacuum in the vacuum manifold, a vacuum is maintained in the compliant conduits of the vacuum manifold and the plurality of vacuum channels having engaged suction cups, regardless of the number of the plurality of vacuum channels having unengaged suction cups.

[0005] In a second embodiment, each of the compliant conduits of the plurality of vacuum channels of the first embodiment comprises a bellows-shaped composite material.

[0006] In a third embodiment, the bellows-shaped composite material of each of the plurality of vacuum channels of the second embodiment comprises a first portion proximate a distal end of the compliant tube and a second portion, wherein the first portion of the bellows-shaped composite material has a greater rigidity than the second portion of the bellows-shaped composite material.

[0007] In a fourth embodiment, the suction cup of each of the plurality of vacuum channels of the third embodiment is coupled to a first portion of a bellows-shaped composite material.

[0008] In a fifth embodiment, the first portion of any one of the third to fourth embodiments has a Shore hardness ranging between about 48A and about 52A, and the second portion has a Shore hardness ranging between about 59D and about 63D.

[0009] In a sixth embodiment, when the proximal end of the compliant conduit of any of the preceding embodiments is fixedly coupled to a vacuum manifold, each of the distal ends of the compliant conduit is movable in three dimensions relative to the vacuum manifold.

[0010] In a seventh embodiment, the distal end of at least one of the compliant conduits of the sixth embodiment is capable of rotating at least 45 degrees relative to the vacuum manifold.

[0011] In an eighth embodiment, the suction cups of the plurality of vacuum channels of any one of the preceding embodiments are integrally formed with the flexible membrane.

[0012] In a ninth embodiment, the suction cups of the eighth embodiment each include a disc on the object contacting surface of the flexible membrane and a tube interface on the tube contacting surface of the flexible membrane.

[0013] In a tenth embodiment, the gripping tool of the ninth embodiment further includes a deformable material on the object contacting surface of the flexible membrane around at least some of the suction cups.

[0014] In an eleventh embodiment, the deformable material of the tenth embodiment includes a plurality of foam rings coupled to the object-contacting surface around at least some of the suction cups.

[0015] In a twelfth embodiment, the deformable material of any of the tenth to eleventh embodiments comprises a sheet of foam material coupled to the object-contacting surface, the sheet of foam material having holes therein aligned with at least some of the suction cups.

[0016] In a thirteenth embodiment, the flexible membrane of any of the preceding embodiments is positioned between the distal end of the compliant conduit and the suction cup such that the suction cup extends away from the object contacting surface of the flexible membrane.

[0017] In a fourteenth embodiment, the suction cups of the thirteenth embodiment are indirectly coupled to each other via a flexible membrane.

[0018] In a fifteenth embodiment, the compliant conduit and the suction cup of each of the plurality of vacuum channels of any of the preceding embodiments are integrally formed together.

[0019] In a sixteenth embodiment, the flexible membrane of the fifteenth embodiment is coupled to an integrally formed compliant conduit and suction cup at each of a plurality of vacuum channels.

[0020] In a seventeenth embodiment, the flexible membrane, the compliant conduits of the plurality of vacuum channels, and the suction cups of the plurality of vacuum channels of any one of the preceding embodiments are integrally formed as a single component.

[0021] In an eighteenth embodiment, the object contacting surface of the flexible membrane of the seventeenth embodiment is disposed rearwardly from or coplanar with the distal ends of the suction cups of the plurality of vacuum channels.

[0022] In a nineteenth embodiment, the compliant conduit of any of the preceding embodiments is made of a substantially uniform material.

[0023] In a twentieth embodiment, the grasping tool according to the nineteenth embodiment further includes an intermediate retainer located between the distal end of the compliant tubing and the tubing interface on the tubing contacting surface of the flexible membrane.

[0024] In a twenty-first embodiment, the intermediate retainer of the twentieth embodiment has a stiffness greater than the stiffness of one or both of the distal end of the compliant tubing or the tubing interface.

[0025] In a twenty-second embodiment, the grasping tool of any of the twentieth or twenty-first embodiments further comprises an inner retainer positioned inside the pipe interface and an outer retainer positioned outside the distal end of the compliant pipe. The inner retainer and the intermediate retainer apply a compressive force on the pipe interface. The intermediate retainer and the outer retainer apply a compressive force on the distal end of the compliant pipe.

[0026] In a twenty-third embodiment, a method of moving an object includes coupling a gripping tool of any one of the first to eighteenth embodiments to an end of a robotic arm and moving the robotic arm until the gripping tool contacts an object located at a first position such that the gripping tool contacts the object and at least one of the suction cups of the gripping tool engages with a surface of the object. With at least one of the suction cups engaging with the surface of the object, the method further includes causing a vacuum source to apply a vacuum in a vacuum manifold. The vacuum in the vacuum manifold and in a compliant conduit associated with at least one of the suction cups applies a force greater than the weight of the object to the object such that the object is gripped by the gripping tool. While the vacuum source applies a vacuum in the vacuum manifold so that the object is gripped by the gripping tool, the method further includes moving the robotic arm to move the object from the first position to the second position.

[0027] In a twenty-fourth embodiment, the method of the twenty-third embodiment further comprises, after the object is in the second position, causing the vacuum source to stop applying vacuum in the vacuum manifold so that the object is no longer grasped by the gripping tool, and moving the robotic arm so that the gripping tool is no longer in contact with the object.

[0028] In a twenty-fifth embodiment, the second location of any one of the twenty-third to twenty-fourth embodiments is located inside the shipping container.

[0029] In a twenty-sixth embodiment, moving the robotic arm so that the object moves from a first position to a second position in the twenty-fifth embodiment includes changing the orientation of the object as the object moves from the first position to the second position so that the object has a predetermined orientation within the shipping container.

[0030] In a twenty-seventh embodiment, the surface of the object of any one of the twenty-third to twenty-sixth embodiments is a non-planar surface.

[0031] In a twenty-eighth embodiment, the object of any one of the twenty-third to twenty-seventh embodiments is a vacuum-packaged product. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated as they become better understood by reference to the following detailed description when taken in conjunction with the accompanying drawings, wherein:

[0033] Figure 1 and Figure 2 depicts a perspective view and a partial cross-sectional view, respectively, of an embodiment of a gripping tool according to embodiments disclosed herein;

[0034] Figure 3A Depicts an idle state from an embodiment disclosed herein Figure 1 and 2 The compliant conduit of the gripper shown in ;

[0035] Figures 3B to 3D Depicted is a diagram of an embodiment according to the present disclosure Figure 3A An example of a compliant conduit wherein a distal end of the compliant conduit has been moved from an idle state relative to a proximal end;

[0036] Figure 4 Depicted is a diagram of an embodiment according to the present disclosure. Figure 1 and 2 A perspective view of one embodiment of a compliant conduit of a grasping tool shown in FIG.

[0037] Figure 5A and 5B An object contact surface and a pipe contact surface included in a flexible membrane 140 according to an embodiment disclosed herein are depicted separately, the object contact surface and the pipe contact surface are depicted separately;

[0038] Figures 6A to 6D Describes the use of embodiments disclosed herein Figure 1 and 2 A series of examples of embodiments of a method of grasping an object and lifting the object from a surface using a grasping tool as shown in;

[0039] Figure 7 Depicts an embodiment of a flexible membrane according to an embodiment disclosed herein, which is different from Figure 1 and 2 An embodiment of a flexible membrane in a gripping tool is shown;

[0040] Figure 8 Another embodiment of a crawling tool according to the embodiments disclosed herein is depicted, the crawling tool comprising Figure 7 The flexible membrane shown;

[0041] Fig. 9 depicts another embodiment of a gripping tool according to embodiments disclosed herein, wherein the suction cup extends beyond the flexible membrane;

[0042] Figures 10A to 10D Describes the use of embodiments disclosed herein Figure 1 and Figure 2 An example of an embodiment of a method of loading an object into a shipping container using a gripper tool is shown;

[0043] Fig.11A and 11B depicts a perspective view and exploded view of a partial cross-section of another embodiment of a grasping tool according to embodiments disclosed herein, the grasping tool comprising a compliant conduit made of a substantially uniform material;

[0044] Fig.12 Describes example embodiments of systems that can be used to implement some or all of the embodiments described herein; and

[0045] Fig.13 Depicted is a block diagram of an embodiment of a computing device in accordance with embodiments described herein. DETAILED DESCRIPTION

[0046] The present disclosure describes an embodiment of a gripping tool that can be used to grasp an object. In some embodiments, the gripping tool includes a vacuum manifold, a flexible membrane, and a plurality of vacuum channels. The vacuum manifold is configured to be coupled to a vacuum source. The flexible membrane is conformal to the non-planar surface of the object. In some embodiments, each of the plurality of vacuum channels includes a compliant conduit coupled between the vacuum manifold and the flexible membrane, a vacuum check valve, and a suction cup coupled to the distal end of the compliant conduit. The vacuum check valve is biased to a closed state and is configured to switch from a closed state to an open state when a vacuum source applies a vacuum in the vacuum manifold and a corresponding suction cup is engaged by an object. Each of the check valves is configured to switch independently between a closed state and an open state, so that when a vacuum source applies a vacuum in the vacuum manifold, regardless of the number of the plurality of vacuum channels with unengaged suction cups, a vacuum is maintained in the vacuum manifold and the compliant conduits of the plurality of vacuum channels with engaged suction cups.

[0047] Figure 1 and Figure 2 A perspective view and a partial cross-sectional view of an embodiment of a gripping tool 100 are depicted, respectively. In some embodiments, the gripping tool 100 is configured for vacuum-based object grasping. In some embodiments, the gripping tool 100 is configured to be used as an end-of-arm tool for a robotic arm or as a tool on any part of any mobile device. In the depicted embodiment, the gripping tool 100 includes a coupling mechanism 102 that is configured to couple to a mobile device, such as a conveyor, a robotic arm, or any other device capable of moving.

[0048] The gripping tool 100 includes a vacuum manifold 110. The vacuum manifold 110 has an interior space 112 in which a vacuum can be induced. As used herein, "vacuum" refers to a pressure state in a space that is lower than the ambient pressure outside the space. For example, when a vacuum is drawn in the interior space 112 of the vacuum manifold 110, the pressure in the interior space of the vacuum manifold is lower than the ambient pressure outside the vacuum manifold 110. The vacuum manifold 110 also includes a vacuum port 114 fluidly coupled to the interior space 112 of the vacuum manifold 110. In the depicted embodiment, the vacuum port 114 has an aperture 116 in fluid communication with the interior space 112 of the vacuum manifold 110.

[0049] The grasping tool 100 also includes a compliant conduit 120 coupled to the vacuum manifold 110. The compliant conduit 120 includes a proximal end 122 and a distal end 124. In the depicted embodiment, the proximal end 122 of the compliant conduit 120 is coupled to the lower end of the vacuum manifold 110. The compliant conduit 120 also includes an internal space 126. Each of the internal spaces 126 is arranged to fluidly couple the proximal end 122 and the distal end 124 of one of the compliant conduits 120. In some embodiments, the compliant conduit 120 is made of a compliant material, such as a rubber material such as polyurethane rubber, platinum-cured silicone rubber, etc. In some embodiments, the material of the compliant conduit 120 is selected so that the compliant conduit 120 can move and / or change shape without plastic deformation of the compliant conduit 120. In some embodiments, when the proximal end 122 of the compliant conduit 120 is fixedly coupled to the vacuum manifold 110, each of the distal ends 124 of the compliant conduit 120 can move in three dimensions relative to the vacuum manifold 110.

[0050] In some embodiments, due to the compliant nature of the compliant conduit 120, the proximal end 122 and the distal end 124 of the compliant conduit 120 are able to move independently. Figure 3A One of the compliant conduits 120 is depicted in an idle state. The idle state of the compliant conduit 120 can be the position and shape of the compliant conduit 120 when the compliant conduit 120 is not being moved and / or the only forces acting on the compliant conduit 120 are natural or environmental forces (e.g., gravity, air pressure from the surrounding environment, etc.). Figures 3B to 3D An example of a compliant conduit 120 is depicted in which the distal end 124 has been moved relative to the proximal end 122 from an idle state. Figures 3B to 3D The outline of the idle state of the flexible conduit 120 is also shown in dashed lines. In some embodiments, each of the flexible conduits 120 in the grasping tool 100 can be FIG. 3B to FIG. 3D In the depicted embodiment, the compliant conduit 120 is in the form of a bellows-shaped compliant material that enables the compliant conduit 120 to move in one or more of the described manners. Figures 3B to 3D Move in all the ways depicted.

[0051] Figure 3B Axial compression of the compliant conduit 120 is depicted. When a compressive force is applied to the compliant conduit 120 between the proximal end 122 and the distal end 124, the compliant conduit 120 can move to Figure 3B In the depicted embodiment, the distal end 124 has been moved upward relative to the proximal end 122. However, it will be understood that any corresponding movement of the proximal end 122 and the distal end 124 toward each other can place the flexible conduit 120 in an axially compressed state.

[0052] Figure 3CThe lateral displacement position of the distal end 124 of the compliant conduit 120 relative to the proximal end 122 is depicted. With a lateral force applied to the distal end 124 and the proximal end 122 held stationary, the compliant conduit 120 may move to Figure 3C In the depicted embodiment, the distal end 124 has been moved to the right relative to the proximal end 122. However, it should be understood that any corresponding lateral movement of the proximal end 122 and the distal end 124 can place the flexible conduit 120 in a laterally displaced position.

[0053] Figure 3D The angularly displaced position of the distal end 124 of the compliant conduit 120 is depicted relative to the proximal end 122. In the event that a lateral force is applied to the distal end 124 while the proximal end 122 remains fixed or a torque is applied to the compliant conduit 120, the compliant conduit 120 may move to Figure 3D In the depicted embodiment, the distal end 124 has been rotated relative to the proximal end 122 by an angle θ. In some embodiments, the distal end 124 is capable of rotating at least 45 degrees (e.g., θ max ≥ 45°). It will be appreciated that any corresponding angular movement of the proximal end 122 and the distal end 124 can place the compliant conduit 120 in an angularly displaced position.

[0054] Figure 4A perspective view of one of the embodiments of the compliant conduit 120 is depicted. In the depicted embodiment, the compliant conduit 120 is bellows-shaped. In some embodiments, it would be helpful for one or both of the proximal end 122 and the distal end 124 of the compliant conduit 120 to be harder and / or have a higher rigidity than the remainder of the compliant conduit 120. Therefore, it may be advantageous for the compliant conduit 120 to be a composite material in which different portions of the compliant conduit 120 have different rigidities and / or hardnesses. In the depicted embodiment, the compliant conduit 120 includes a lower hardness portion 123 and a higher hardness portion 125. The higher hardness portion 125 is located near the distal end 124, and the lower hardness portion 123 includes the remainder of the compliant conduit 120. In some embodiments, the higher hardness portion 125 is more rigid than the lower hardness portion 123. For example, in some embodiments, the higher durometer portion 125 has a Shore hardness in a range between about 48A and about 52A (e.g., 50A), while the lower durometer portion 123 has a Shore hardness in a range between about 59D and about 63D (e.g., 61D). The higher durometer portion 125 can facilitate coupling the distal end 124 of the compliant conduit 120 to other components of the gripping tool. For example, the greater rigidity of the higher durometer portion 125 can make it easier for the higher durometer portion 125 to couple to a vacuum manifold 110 or a flexible membrane of the gripping tool 100 (as discussed below). In another example, the rigidity of the higher durometer portion 125 can make the connection between the higher durometer portion 125 and a more compliant material (e.g., a suction cup) less prone to leaks. In some embodiments, it can be advantageous to maximize the length of the lower durometer portion 123 so that the compliant conduit can move (e.g., bend, flex, compress) as much as possible.

[0055] In some embodiments where the compliant conduit 120 is a composite material, the compliant conduit 120 can be cast using a liquid rubber that cures in a mold. Each material that makes up the compliant conduit 120 can be added to the mold at a specific time to achieve a composite material of the compliant conduit 120. In some embodiments, the timing of casting the different materials is selected so that each material has enough time to cure to occupy the intended area of ​​the mold, but still remains sufficiently reactive to allow a molecular level interface to form between the two types of materials. For example, the material of the higher hardness portion 125 can be added to the mold and allowed to cure for a sufficient time so that the material occupies the portion of the mold corresponding to the distal end 124, and the material of the lower hardness portion 123 can be added to the mold while the material of the higher hardness portion 125 still has sufficient reactivity to allow a molecular level interface to form between the materials of the lower hardness portion 123 and the higher hardness portion 125. In some embodiments, it may be advantageous for all types of materials in the compliant conduit 120 to be chemically compatible. For example, the materials of the lower hardness portion 123 and the higher hardness portion 125 can both be polyurethane materials, the materials of the lower hardness portion 123 and the higher hardness portion 125 can both be platinum-cured silicone materials, etc. It should be understood that although the examples here are described with respect to two materials, any number of materials can be included in the composite material.

[0056] Return to reference Figure 1 and Figure 2 , the grasping tool 100 may also include check valves 128. In the depicted embodiment, one of the check valves 128 is located between the vacuum manifold 110 and one of the interior spaces 126 of the compliant tubes 120. In addition, in the depicted embodiment, each of the check valves 128 is coupled to one of the proximal ends 122 of the compliant tubes 120. The grasping tool 100 also includes suction cups 130. In the depicted embodiment, each of the suction cups 130 is coupled to one of the distal ends 124 of the compliant tubes 120. Each set of one of the compliant tubes 120, a corresponding check valve in the check valves 128, and a corresponding suction cup in the suction cups 130 defines a vacuum channel 132. In some embodiments, the grasping tool 100 includes a plurality of vacuum channels 132. In the depicted embodiment, the grasping tool 100 includes a 6×8 array of vacuum channels 132.

[0057] The gripping tool 100 also includes a flexible membrane 140. The flexible membrane 140 can conform to a non-planar surface of an object. Examples of benefits of the conformability of the flexible membrane 140 to a non-planar surface of an object are discussed in more detail below. In some embodiments, the rigidity of the flexible membrane 140 is lower than the lowest rigidity of the compliant tube 120. For example, the flexible membrane 140 can have a Shore hardness of less than or equal to about 50A. In the depicted embodiment, the flexible membrane 140 includes an object contacting surface 142 and a tube contacting surface 144, which are respectively Figure 5A and 5B The object contacting surface 142 is configured to be oriented in the direction of an object grasped by the grasping tool 100 , and the tube contacting surface 144 is configured to be oriented in the direction of the compliant tube 120 .

[0058] In some embodiments, including the depicted embodiment, the flexible membrane 140 is configured to maintain each of the suction cups 130 substantially perpendicular to the portion of the flexible membrane 140 at which each of the suction cups 130 is coupled. In the depicted embodiment, the suction cups 130 are integrally formed with the flexible membrane 140, and the suction cups are located on the object contact surface 142 (e.g., the distal ends of the suction cups 130 are coplanar with the object contact surface 142 of the flexible membrane 140). In this case, the flexible membrane 140 can flex (e.g., bend, curl, etc.) while each of the suction cups 130 remains substantially perpendicular to the portion of the flexible membrane 140 immediately surrounding each of the suction cups 130. In other embodiments, the suction cups 130 can be formed separately from the flexible membrane 140. In these embodiments, the suction cups 130 can be coupled to the flexible membrane 140 such that when the flexible membrane 140 is flexed, each of the suction cups 130 remains substantially perpendicular to the portion of the flexible membrane 140 immediately surrounding each of the suction cups 130. The flexible membrane 140 also functions to substantially maintain the respective spacings of the distal ends 124 of the compliant conduits 120 even when the flexible membrane flexes (eg, the suction cups 130 are indirectly coupled to each other via the flexible membrane 140 ).

[0059] In each of the vacuum channels 132, a suction cup 130 is coupled to the compliant conduit 120 such that the suction cup 130 is in fluid communication with the interior space 126 of the compliant conduit 120. In some embodiments, the suction cup 130 includes a conduit interface 146 configured to be coupled to the distal end 124 of the compliant conduit 120. In the depicted embodiment, each of the suction cups 130 includes a disc on the object contacting surface 142 of the flexible membrane 140 and a conduit interface 146 on the conduit contacting surface 144 of the flexible membrane 140. In embodiments where the distal end 124 of the compliant conduit 120 includes a higher durometer portion 125, the greater rigidity of the higher durometer portion 125 may provide a better engagement of the distal end 124 of the compliant conduit 120 with the conduit interface 146 (e.g., allowing for a better seal) than if the distal end 124 had a lower rigidity. In the depicted embodiment, the gripping tool also includes an internal retainer 148 located in the suction cup 130 where the compliant conduit 120 engages the conduit interface 146. The internal retainer 148 is configured to prevent the compliant tubing 120 from being disengaged from the tubing interface 146. In some embodiments, the internal retainer 148 can prevent the compliant tubing 120 from being disengaged from the tubing interface 146 regardless of the rigidity of the distal end 124 of the compliant tubing 120.

[0060] The gripping tool 100 is capable of gripping an object. Specifically, the gripping tool 100 is capable of gripping the surface of an object using a vacuum, regardless of whether the surface of the object is non-planar. Figures 6A to 6D Depicted in FIG. 1 are a series of examples of embodiments of a method of using a gripping tool 100 to grip an object 160 and lift the object 160 from a surface 162. Fig. 6A In the embodiment shown in FIG. 1 , the gripping tool is positioned above the object 160. The top surface of the object 160 is non-planar. The vacuum port 114 is coupled to a vacuum source (not shown) via a gas line 115. The compliant conduit 120 is in an idle state.

[0061] exist Figure 6B , the gripping tool 100 has been lowered so that the object contacting surface 142 of the flexible membrane 140 is in contact with the top surface of the object 160. Figure 6B None of the suction cups 130 shown are fully engaged with the top surface of the object. The vacuum check valves 128 are biased to a closed state so that when the vacuum source draws a vacuum, the check valves tend to eliminate or minimize leakage of gas (e.g., air) into the interior space 112 of the vacuum manifold 110. Each of the vacuum check valves 128 is configured to switch from a closed state to an open state when the vacuum source applies a vacuum in the vacuum manifold 110 and the corresponding suction cup 130 is engaged by the object 160. However, since none of the suction cups 130 are engaged with the object 160, none of the vacuum check valves 128 switches to an open state.

[0062] exist Figure 6C , the gripping tool has moved further downward toward the object 160 until at least some of the compliant tubes 120 have experienced a certain amount of axial compression and the flexible membrane 140 has deflected along the top surface of the object 160. In the depicted embodiment, all of the depicted compliant tubes 120 have experienced a certain amount of axial compression and some of the depicted compliant tubes 120 have experienced angular displacement. Even after the flexible membrane 140 has deflected, each of the depicted suction cups 130 remains substantially perpendicular to the flexible membrane 140. In addition, all of the depicted suction cups 130 are engaged with the surface of the object 160.

[0063] The flexible membrane 140 can flex around the surface of the object, such as in the case where the surface of the object is non-planar, so that some of the suction cups 130 engage the surface of the object. In some cases, at least some of the compliant conduits 120 are axially compressed so that more of the flexible membrane 140 can flex around the surface of the object and more of the suction cups 130 engage the surface of the object 160. In some embodiments, once one of the suction cups 130 engages the surface of the object 160 and a vacuum is applied in the vacuum manifold 110, gas inherently leaks through a corresponding one of the check valves 128 to equalize the pressure in the vacuum manifold 110 and the corresponding one of the compliant conduits 120. When the pressure on either side of the check valve 128 is equalized, the check valve 128 switches from a closed state to an open state to apply pressure within the compliant conduits 120. With this arrangement, a vacuum is drawn only in those compliant conduits 120 corresponding to the suction cups that have engaged the object 160. In these compliant conduits 120, suction can be applied to the object 160 at the corresponding suction cups 130. In some embodiments, the vacuum in those compliant conduits 120 is a substantially constant vacuum level maintained in the vacuum manifold 110 regardless of the number of vacuum channels 132 having unengaged suction cups 130 .

[0064] Note that for those compliant conduits 120 where a vacuum is applied, the compliant conduits 120 need to have sufficient structural stability so that the compliant conduits 120 do not collapse under the vacuum force. Additionally, it is advantageous that the compliant conduits 120 are able to compress axially even when a vacuum is applied to the interior of the compliant conduits 120. The bellows shape in the depicted embodiment may be advantageous because the shape is able to provide both radial stiffness and axial compressibility. In some embodiments, the rigidity of one or more portions of the compliant conduits 120 is selected based on the desired vacuum force to be applied to the interior of the compliant conduits 120.

[0065] In some embodiments, it may be advantageous to move the gripping tool 100 toward the object 160 until at least one of the compliant tubes 120 is axially compressed as much as possible. Doing so will allow as many suction cups 130 as possible to engage with the surface of the object 160. Engaging more suction cups 130 to the surface of the object 160 increases the vacuum force on the object 160, increases the stability of the gripping tool 100's grip on the object 160, and improves the reliability of the gripping tool 100's grip on the object 160.

[0066] Some objects may have surfaces that are not suitable for allowing the suction cups 130 to fully engage with the surface of the object. For example, for an object that is a vacuum-packed product (e.g., a vacuum-packed piece of raw meat), the surface of the vacuum packaging material may have irregularities, such as folds and wrinkles on the surface. Such irregularities may prevent some of the suction cups 130 from fully engaging with the surface of the object. If enough suction cups 130 fail to fully engage with the surface of the object, the gripping tool 100 may not be able to adequately grasp the object or may not be able to reliably grasp the object.

[0067] In some embodiments, some of the problems of surface irregularities can be solved by a deformable material 150 located on the object contacting surface 142 of the flexible film 140. The deformable material 150 is configured to compress when contacting the surface of the object. Specifically, the deformable material 150 is configured to compress at irregularities in the surface of the object--such as folds and wrinkles on the outer packaging layer of the object--and conform around the irregularities so that the suction cup 130 can still engage the surface of the object. In this way, the deformable material 150 can minimize or prevent vacuum loss at irregularities in the surface of the object, thereby improving the performance and versatility of the gripping tool 100. In some embodiments, the deformable material 150 is a foam material or an elastomeric material.

[0068] The deformable material 150 can take a variety of forms. Figure 1 and Figure 2 In the depicted embodiment, the deformable material 150 is a sheet of deformable material that has been coupled to the object contacting surface 142. The sheet of deformable material has holes therein that align with some or all of the suction cups 130. In particular, Figure 1 and Figure 2 In the depicted embodiment, the sheet of deformable material covers substantially all of the object contacting surface 142 of the flexible membrane 140 except for the suction cups 130. In some embodiments, the sheet of deformable material is adhered to the object contacting surface 142. In some embodiments, the sheet of deformable material can be integrally formed with the object contacting surface 142 as a single unit.

[0069] exist Figure 7 Another embodiment of a flexible membrane 140' is depicted. Flexible membrane 140' is similar to flexible membrane 140, except that flexible membrane 140' does not have deformable material 150, but rather has deformable material 150'. Figure 7In the depicted embodiment, the deformable material 150' is in the form of a deformable ring that is positioned around some of the suction cups 130 and coupled to the object contacting surface 142 of the flexible membrane 140. Although the deformable ring does not cover substantially all of the object contacting surface 142, the deformable ring can serve the same purpose, namely to increase the likelihood that each of the suction cups 130 having the deformable ring around it will engage the surface of the object. In the depicted embodiment, the deformable ring is not placed around each of the suction cups 130, but rather around the suction cups 130 that are positioned toward the center of the flexible membrane 140. In some embodiments, it may be advantageous for the suction cups 130 on the periphery of the flexible membrane 140 to not have the deformable material around them, so that portions of the periphery of the flexible membrane 140 near the suction cups 130 are more flexible to engage the sides of the object. In some embodiments, the surface of the flexible membrane 140 can be adjustable according to different contact surfaces and / or different object compliances through specification appliques in different areas of the flexible membrane 140.

[0070] Figure 8 Another embodiment of a gripping tool 100' is depicted in FIG. The gripping tool 100' is similar to the gripping tool 100, except that the gripping tool 100' does not have a flexible membrane 140, but instead has a flexible membrane 140'. Figure 8 In the depicted embodiment, the gripping tool grasps an object 164. In the depicted embodiment, the object 164 is a vacuum-packed product (e.g., a vacuum-packed piece of raw meat). In the depicted embodiment, all of the suction cups 130 having a foam ring of deformable material 150' around them are engaged with the top of the object 164. When a vacuum is applied in the vacuum manifold 110, the check valves 128 in the vacuum channels 132 having the engaged suction cups 130 are switched to an open state, thereby applying a vacuum in those vacuum channels 132. Suction is applied to the object 164 by those suction cups 130 that are engaged to the object 164. The suction applied by each of these objects causes the object 164 to be grasped by the gripping tool 100' and lifted by the gripping tool 100', as shown in FIG. Figure 8 shown.

[0071] In the above-mentioned embodiments of the grasping tool, the suction cup is formed integrally with the flexible membrane, and the compliant conduit is coupled to the flexible membrane. The flexible membrane, the compliant conduit, and the suction cup may also be formed in other ways. In some embodiments of the grasping tool, the flexible membrane, the compliant conduit, and the suction cup may all be formed as separate components coupled together. For example, each of the compliant conduits may be coupled (e.g., mechanically coupled or adhesively coupled) to one of the suction cups, and the suction cup may be coupled (e.g., mechanically coupled or adhesively coupled) to the flexible membrane. In some embodiments of the grasping tool, the flexible membrane, the compliant conduit, and the suction cup may all be formed integrally together as a single component. In some embodiments of the grasping tool, the compliant conduit and the suction cup in each of the vacuum channels may be formed as a single component, and the flexible membrane may be formed separately; the flexible membrane may then be coupled to each of the vacuum channels. Any other variations of single components and / or separate components are possible.

[0072] In the event that more than one of the flexible membrane, the compliant conduit, and the suction cup is formed as a single component (or "single-piece component"), it may be desirable to form the single-piece component as a composite material so that different portions of the single piece can have different stiffness, hardness, rigidity, and / or any other properties. The single-piece component can be formed as a composite material in any suitable manner, including the above-described embodiments for forming the compliant conduit as a composite material. In examples where the flexible membrane, the compliant conduit, and the suction cup are integrally formed together as a single component, the compliant conduit portion can include a compliant material (e.g., an elastomer) having a hardness that allows for the compliance of the compliant conduit and the ability to resist radial buckling under a vacuum. Similarly, portions of the single-piece material including the suction cup and / or the flexible membrane can use a relatively lower hardness material to achieve flexibility that conforms to the non-planar surface of an object. In some embodiments, the materials used for different portions of the composite material can be chemically compatible (e.g., all portions are polyurethane materials, all portions are platinum-cured silicone materials, etc.).

[0073] Fig. 9 , wherein the suction cup extends beyond the flexible membrane. The gripping tool 200 includes a coupling mechanism 202 configured to couple to a mobile device. The gripping tool 200 also includes a vacuum manifold 210 configured to couple to a vacuum source. For example, the vacuum manifold includes a vacuum port 214 fluidly coupled to an interior space of the vacuum manifold 210. The gripping tool 200 also includes a flexible membrane 240 that can conform to a non-planar surface of an object.

[0074] The gripping tool 200 also includes a plurality of vacuum channels 232 connected in parallel between the vacuum manifold 210 and the flexible membrane 240. Each of the plurality of vacuum channels 232 includes a compliant conduit 220 having a proximal end coupled to the vacuum manifold 210 and a distal end coupled to the flexible membrane 240. Each of the plurality of vacuum channels 232 also includes a vacuum check valve (not visible) coupled to the proximal end of the compliant conduit 220 (e.g., between the vacuum manifold 210 and the interior of the compliant conduit 220). Each of the plurality of vacuum channels 232 also includes a suction cup 230 coupled to the distal end of the compliant conduit 220. The vacuum check valve of each of the plurality of vacuum channels 232 is biased to a closed state and is configured to switch from a closed state to an open state when a vacuum source applies a vacuum in the vacuum manifold 210 and the suction cup is engaged by an object. Each of the check valves in the plurality of vacuum channels 232 is configured to independently switch between a closed state and an open state such that when a vacuum source applies a vacuum in the vacuum manifold 210, vacuum is maintained in the vacuum manifold 210 and the compliant conduit 220 of the plurality of vacuum channels 232 having engaged suction cups 230, regardless of the number of the plurality of vacuum channels 232 having unengaged suction cups 230.

[0075] In the depicted embodiment, the compliant conduit 220, the suction cup 230, and the flexible membrane 240 are all separate components. In this embodiment, the suction cup 230 may have a disc geometry that is incompatible with the flexible membrane 240 directly contacting the object. Some conventional discrete suction cups have a lip that tapers to a thin skin and ribs on the inside of the disc that work together to guide the position and seal against the surface of the object. In some cases, this disc geometry can compensate for surface irregularities (e.g., wrinkles and folds in vacuum-packed materials) without the use of a deformable material. The thickness of material required for the flexible membrane 240 to withstand deformation due to flexing around an object can negatively affect the ability of the disc to seal against the object. Therefore, instead of the suction cup 230 being integrally formed with the flexible membrane 240 and / or the lip of the suction cup 230 being coplanar with the object contact surface of the flexible membrane 240, the suction cup 230 in the depicted embodiment extends beyond the object contact surface of the flexible membrane 240. This arrangement provides separation between the lip of the suction cup 230 and the object contacting surface of the flexible membrane 240 , enabling the suction cup 230 to maintain gripping properties while the flexible membrane 240 maintains the relative position and orientation of the suction cup 230 .

[0076] In embodiments where the suction cups 230 extend beyond the object contacting surface of the flexible membrane 240, the object contacting surface of the flexible membrane 240 may not actually be in contact with the object when some or all of the suction cups 230 engage the object. However, the object contacting surface is the surface of the flexible membrane 240 that is oriented toward the object when some or all of the suction cups 230 engage the object. This lack of direct contact of the object contacting surface with the object may limit the achievable bending radius of the object contacting surface for adjacent ones of the suction cups 230 to engage the object. However, having the suction cups 230 extend from the object contacting surface provides more choices of material properties for each component (e.g., the suction cups 230, the compliant conduit 220, and the flexible membrane 240). Additionally, having separate components allows each component to be independently removed from and / or replaced in the gripping tool 200, such as when one of the components has worn out.

[0077] Gripping tools, such as the embodiments of gripping tools described above, can be used to grip objects, move objects, and place objects in desired locations. In particular, a gripping tool that can grip the top of an object can place an object in a space where a gripping tool that grips the sides of an object cannot. For example, when an object is to be placed in a box, there may not be space between the object and the sides of the box to accommodate the arms of the tool that grips the sides of the object. Gripping tool 100 is an example of a gripping tool that can be used to grip the top surface of an object and place the object into a box (e.g., for transporting objects). Figures 10A to 10D An example of an embodiment of a method of a gripper tool 100 for loading objects into a shipping container is depicted.

[0078] Figures 10A to 10D An environment 300 including a conveyor 362, a robotic arm 366, and a shipping container 370 is depicted. In some embodiments, the conveyor 362 includes one or more of a conveyor belt, a set of rollers, a low friction surface, a ramp, or any other mechanism configured to move an object. In the depicted embodiment, the gripper 100 has been coupled to the end of the robotic arm 366. In some embodiments, the robotic arm 366 can change the position, orientation, and / or operation of the gripper 100. For example, a computing device (e.g., a controller) can control the position of the robotic arm 366 to position the gripper 100, control the orientation of the gripper 100 relative to the end of the robotic arm 366 to orient the gripper 100, and / or control a vacuum source of a vacuum manifold 110 coupled to the gripper 100 to control whether the gripper 100 is gripping an object. In some embodiments, the shipping container 370 is a carton, a crate, a pallet, a bag, or any other container in which an object can be shipped. In the depicted embodiment, the shipping container 370 is a box that is open to receive an object.

[0079] Environment 300 also includes objects 3601, 3602, 3603, 3604, 3605, 3606, 3607 (collectively referred to as objects 360). Conveyor 362 is configured to move objects 360 in a downstream direction 364. In the depicted embodiment, the downstream direction 364 of the conveyor moves objects 360 generally toward a shipping container 370. In the depicted embodiment, a robotic arm 366 is positioned near the downstream end of conveyor 362 so that robotic arm 366 can independently transfer objects 360 from conveyor 362 to shipping container 370 using gripping tool 100. In some embodiments, objects 360 are vacuum-packed products. For example, each of objects 360 can be a vacuum-packed raw meat piece (e.g., beef, chicken, turkey, fish, etc.). In some embodiments, at least some of objects 360 have an upper surface that is a non-planar surface.

[0080] exist Fig. 10A In the depicted example, objects 3601, 3602, 3603 are located in shipping container 370 and objects 3604, 3605, 3606 are located on conveyor 362. In some cases, robotic arm 366 has transferred objects 3601, 3602, 3603 from conveyor 362 into shipping container 370. In the depicted embodiment, objects 3601, 3602 have been placed in shipping containers to form a first layer of objects 360 in shipping container 370 and objects 3601, 3602 have similar orientations. Object 3603 is also placed on objects 3601, 3602 in shipping container 370 as part of a second layer of objects 360 in shipping container 370. In some embodiments, each layer of objects 360 has a different orientation than the layers of objects 360 adjacent to that layer (sometimes referred to as a "log cabin" arrangement). In the depicted embodiment, object 3603 is oriented in a different direction than objects 3601, 3602 (e.g., substantially perpendicular to objects 3601, 3602). Fig. 10A In the depicted example, the gripper 100 has been positioned and oriented by the robotic arm 366 in a manner that is not associated with any of the objects 360. In some cases, Fig. 10A The position and orientation of the grasping tool 100 in may be any position and orientation of the grasping tool 100 or a default position and orientation of the grasping tool 100 .

[0081] from Fig. 10A The example shown to Fig. 10B In the example shown, conveyor 362 advances in a downstream direction 364. The advancement of conveyor 362 causes objects 3604, 3605, 3606 to move in a downstream direction and causes a portion of object 3607 to enter the downstream direction. Fig. 10B The area of ​​the visible environment 300. Fig. 10A The example shown to Fig. 10B In the example shown, the robot 366 moves the gripper 100 to a position over the object 3604 on the conveyor 362. The robot 366 also orients the gripper 100 relative to the object 3604. In the depicted embodiment, the longest dimension of the gripper 100 is oriented substantially parallel to the longest dimension of the object 3604.

[0082] exist Fig. 10B In the example shown, the robotic arm 366 has positioned the gripping tool 100 relative to the object 3604 such that at least some of the suction cups 130 have engaged the upper surface of the object 3604. In some embodiments, the upper surface of the object 3604 is a non-planar surface, and when at least some of the suction cups 130 engage the upper surface of the object 3604, the flexible membrane 140 flexes. Fig. 10B In the depicted example, the vacuum source can be actuated to draw a vacuum in the vacuum manifold 110. With some of the suction cups 130 engaged with the surface of the object 3604 and the vacuum source applying a vacuum in the vacuum manifold 110, the vacuum check valve 128 switches from a closed state to an open state when the vacuum source applies a vacuum in the vacuum manifold 110 and the suction cups 130 are engaged by the object 3604. A vacuum is then applied in the compliant conduit 120 with the open vacuum check valve 128, such that the vacuum applies a force on the object 3604 that is greater than the weight of the object 3604. In this way, the object 3604 is grasped by the grasping tool 100. While the object 3604 is grasped by the grasping tool 100, the robotic arm 366 can move the object 3604 from Fig. 10B In some embodiments, a computing device (e.g., a controller) can control the movement and orientation of the robotic arm 366 and the operation of the vacuum source.

[0083] from Fig. 10B The example shown to Fig. 10C In the example shown, while the gripper 100 is gripping the object 3604, the robot arm 366 moves the gripper 100 to another location. More specifically, the gripper 100 moves the object 3604 from Fig. 10B The position of the gripping tool 100 on the conveyor 362 shown in the figure is to the position near the object 3603 in the shipping container 370. Fig. 10B and Fig. 10C The example shown grasps the object 3604 between the vacuum source at Fig. 10B and Fig. 10CThe vacuum continues to be applied in the vacuum manifold 110 between the illustrated instances. Thus, even though the gripper 100 moves the object 3604 over an area where there is no bottom support for the object 3604, the vacuum in the vacuum manifold 110 and the compliant conduits 120 associated with the engaged suction cups 130 exerts a force on the object 3604 that is greater than the weight of the object 3604, causing the object 3604 to be grasped by the gripper 100 as the object 3604 moves.

[0084] In the depicted embodiment, as robotic arm 366 moves object 3604 from a position on conveyor 362 to a position in shipping container 370, robotic arm 366 changes the orientation of object 3604 as object 3604 is moved. In the particular depicted embodiment, object 3604 is oriented substantially perpendicular to object 3603 while it is on conveyor 362, and robotic arm 366 changes the orientation of object 3604 as object 3604 is moved so that object 3604 is oriented substantially parallel to object 3603 when it is placed in shipping container 370. In this manner, object 3604 is oriented to a desired orientation for placement in shipping container 370. More specifically, object 3604 is oriented so that object 3604 completes a second layer of objects 360 in shipping container 370.

[0085] exist Fig. 10C In the example shown, when object 3604 is in close proximity to object 3603 in shipping container 370, the vacuum source can be caused to stop applying vacuum in vacuum manifold 110 so that object 3604 is no longer grasped by gripper 100. When the vacuum source is no longer applying vacuum in vacuum manifold 110, vacuum check valve 128, which was in an open state, switches back to a closed state, and suction cup 130 no longer applies force to object 3604 so that object 3604 is no longer grasped by gripper 100. After object 3604 is no longer grasped by gripper 100, robotic arm 366 can be moved so that gripper 100 is no longer in contact with object 3604. In the depicted embodiment, from Fig. 10C The example shown to Fig. 10D In the example shown, the robot arm 366 has moved so that the gripper 100 is no longer in contact with the object 3604 and the gripper 100 has moved away from the object 3604. Fig. 10D In the example shown, the object 3604 remains in the shipping container 370 and Fig. 10A An arbitrary or default position and orientation of the gripping tool 100 is shown.

[0086] Figures 10A to 10DThe illustrated embodiment of the method may be repeated multiple times to continue loading the shipping container 370. For example, the conveyor 362 may continue to move the objects 360 in the downstream direction 364, and the robotic arm 366 and the gripper 100 may be used to independently move the objects from the conveyor 362 to the shipping container 370. The robotic arm 366 and the gripper 100 may also control the position and orientation of the objects 360 in the shipping container 370 to achieve a specific arrangement of the objects 360 in the shipping container 370.

[0087] exist Fig. 10C This illustrates one of the advantages of the gripping tools described herein. Because the gripping tool 100 can grip the object 360 from the upper surface of the object 360, the gripping tool 100 can place the object 360 in a container where other gripping tools cannot place the object 360. Specifically, Fig. 10C It is shown that the gripping tool 100 can be positioned above the location where the object 3604 will be placed in the shipping container 370. The gripping tool 100 can specifically position the object 3604 near the side of the shipping container 370. Other types of gripping tools cannot position the object 360 near the side of the shipping container 370. For example, a gripping tool that clamps the side of the object will require a considerable amount of space between the location where the object will be placed in the shipping container 370 and the side of the shipping container 370 to accommodate the clamping mechanism and allow the clamping mechanism to be retracted away from the object. In contrast, the gripping tool 100 can grip the upper surface of the object and release the grip without having to access the bottom or sides of the object.

[0088] In some of the embodiments described herein, the compliant conduit is made of a composite material. The composite material, such as a compliant conduit in the form of a bellows composite material, can advantageously provide a rigid or semi-rigid proximal end and a distal end with a compliant portion between the proximal end and the distal end. The bellows compliant conduit is allowed to be connected at the proximal end and the distal end while still allowing the compliant conduit to move and bend between the proximal end and the distal end. However, manufacturing a bellows compliant conduit from a composite material may be expensive and / or labor intensive. In some cases, a compliant conduit made of a substantially uniform material may be more advantageous. Fig.11A and 11B Perspective and exploded views of partial cross-sections of another embodiment of a grasping tool 100' are depicted that includes a compliant conduit made of a substantially uniform material.

[0089] The grasping tool 100' includes a compliant conduit 120'. In some embodiments, the compliant conduit 120' is coupled to a vacuum manifold (e.g., vacuum manifold 110). The compliant conduit 120' includes a proximal end 122' and a distal end 124'. The compliant conduit 120' also includes an internal space 126'. Each of the internal spaces 126' is arranged to fluidly connect the proximal end 122' and the distal end 124' of one of the compliant conduits 120'. In some embodiments, the compliant conduit 120 is made of a compliant material, such as a rubber material such as polyurethane rubber, platinum-cured silicone rubber, etc. In some embodiments, the material of the compliant conduit 120' is selected so that the compliant conduit 120' can move and / or change shape without plastic deformation of the compliant conduit 120'. In some embodiments, when the proximal end 122' of the compliant conduit 120' is fixedly coupled to the vacuum manifold, each of the distal ends 124' of the compliant conduit 120' can move in three dimensions relative to the vacuum manifold. In some embodiments, due to the compliant nature of the compliant conduit 120', the proximal end 122' and the distal end 124' of the compliant conduit 120' are able to move independently.

[0090] The gripping tool 100' also includes a suction cup 130'. Fig.11A In the depicted embodiment, each of the suction cups 130' is coupled to one of the distal ends 124' of the compliant tubing 120'. Each set of the compliant tubing 120', the corresponding check valves, and the corresponding ones of the suction cups 130' define a vacuum channel 132'. In some embodiments, the grasping tool 100' includes a plurality of vacuum channels 132'.

[0091] The grasping tool 100' also includes a flexible membrane 140'. The flexible membrane 140' conforms to the non-planar surface of the object. Examples of the advantages of the conformability of the flexible membrane 140' to the non-planar surface of the object are discussed above with respect to the flexible membrane 140. In some embodiments, the rigidity of the flexible membrane 140' is lower than the lowest rigidity of the compliant tube 120'. For example, the flexible membrane 140' can have a Shore hardness less than or equal to about 50A. In the depicted embodiment, the flexible membrane 140' includes an object contact surface 142' and a tube contact surface 144'. The object contact surface 142' is configured to be oriented in the direction of the object grasped by the grasping tool 100', and the tube contact surface 144' is configured to be oriented in the direction of the compliant tube 120'.

[0092] In some embodiments, including the depicted embodiment, the flexible membrane 140' is configured to maintain each of the suction cups 130' substantially perpendicular to the portion of the flexible membrane 140' to which each of the suction cups 130' is coupled. In the depicted embodiment, the suction cups 130' are integrally formed with the flexible membrane 140', and the suction cups are located on the object contact surface 142' (e.g., the distal ends of the suction cups 130' are coplanar with the object contact surface 142' of the flexible membrane 140'). In this case, the flexible membrane 140' can flex (e.g., bend, curl, etc.) while each of the suction cups 130' remains substantially perpendicular to the portion of the flexible membrane 140' immediately surrounding each of the suction cups 130'. In other embodiments, the suction cups 130' can be formed separately from the flexible membrane 140'. In these embodiments, the suction cups 130' can be coupled to the flexible membrane 140' such that when the flexible membrane 140' flexes, each of the suction cups 130' remains substantially perpendicular to the portion of the flexible membrane 140' immediately surrounding each of the suction cups 130'. The flexible membrane 140' also serves to substantially maintain the respective spacing of the distal ends 124' of the compliant conduit 120' even when the flexible membrane flexes (e.g., the suction cups 130' are indirectly coupled to each other via the flexible membrane 140').

[0093] In each of the vacuum channels 132', the suction cup 130' is coupled to the compliant conduit 120' such that the suction cup 130' is in fluid communication with the interior space 126' of the compliant conduit 120'. In some embodiments, the suction cup 130' includes a conduit interface 146' configured to be coupled to the distal end 124' of the compliant conduit 120'. In the depicted embodiment, each of the suction cups 130' includes a disc on the object contacting surface 142' of the flexible membrane 140' and a conduit interface 146' on the conduit contacting surface 144' of the flexible membrane 140'.

[0094] In the depicted embodiment, the compliant conduit 120' is made of a substantially uniform material. In some embodiments, the rigidity of the substantially uniform material of the compliant conduit 120' may alone be insufficient to couple the distal end 124' of the compliant conduit 120' to the conduit interface 146'. In the depicted embodiment, each of the compliant conduits 120' is coupled to one of the conduit interfaces 146' by means of an internal retainer 148', an intermediate retainer 170', and an external retainer 172'. The internal retainer 148' is positioned within the suction cup 130' and within the conduit interface 146'. The intermediate retainer 170' is positioned around the exterior of the conduit interface 146'. In some embodiments, the internal retainer 148' and the intermediate retainer 170' are configured to apply a compressive force on the conduit interface 146'. In some embodiments, the outer surface of the intermediate retainer 170' is configured to engage the distal end 124' of the compliant conduit 120', such as Fig.11AAs shown. In some embodiments, the external retainer 172' is placed around the outer surface of the distal end 124' of the flexible conduit 120' so that the intermediate retainer 170' and the external retainer 172' apply a compressive force on the distal end 124' of the flexible conduit 120'. In some embodiments, the rigidity of the intermediate retainer 170' is greater than each of the rigidity of the conduit interface 146' and the rigidity of the flexible conduit 120'. In this way, the intermediate retainer 170' provides a rigid interface between the conduit interface 146' and / or the compliant material of the flexible conduit 120'. It will be understood that the depicted embodiments of the flexible conduit 120' and the intermediate retainer 170' can be used to replace other flexible conduits described herein.

[0095] Fig.12 An example embodiment of a system 410 is depicted that can be used to implement some or all of the embodiments described herein. In the depicted embodiment, system 410 includes computing devices 4201, 4202, 4203, and 4204 (collectively, computing devices 420). In the depicted embodiment, computing device 4201 is a tablet computer, computing device 4202 is a mobile phone, computing device 4203 is a desktop computer, and computing device 4204 is a laptop computer. In other embodiments, the computing device 420 includes one or more of the following: a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a game console (e.g., Xbox, Playstation, Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, a headset, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a repeater, a router, a network access point, a base station, any other device configured to perform the functions, operations and / or processes described herein, or any combination thereof.

[0096] Computing devices 420 are communicatively coupled to each other via one or more networks 430 and 432. Each of networks 430 and 432 may include one or more wired or wireless networks (e.g., 3G networks, the Internet, internal networks, private networks, secure networks). Computing devices 420 are capable of communicating with each other and / or any other computing devices via one or more wired or wireless networks. Fig.12 The particular system 410 in FIG. 4 depicts computing devices 420 communicatively coupled via network 430 as including four computing devices, but any number of computing devices may be communicatively coupled via network 430 .

[0097] In the depicted embodiment, computing device 4203 is communicatively coupled to peripheral device 440 via network 432. In the depicted embodiment, peripheral device 440 is a scanner, such as a barcode scanner, an optical scanner, a computer vision device, etc. In some embodiments, network 432 is a wired network (e.g., a direct wired connection between peripheral device 440 and computing device 4203), a wireless network (e.g., a Bluetooth connection or a WiFi connection), or a combination of wired and wireless networks (e.g., a Bluetooth connection between peripheral device 440 and a bracket for peripheral device 440 and a wired connection between peripheral device 440 and computing device 4203). In some embodiments, peripheral device 440 is itself a computing device (sometimes referred to as a "smart" device). In other embodiments, peripheral device 440 is not a computing device (sometimes referred to as a "dumb" device).

[0098] Fig.13 Depicted is a block diagram of an embodiment of a computing device 500. Any of the computing device 420 and / or any other computing device described herein may include some or all of the components and features of the computing device 500. In some embodiments, the computing device 500 is one or more of the following: a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a game console (e.g., Xbox, Playstation, Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, a headset, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a repeater, a router, a network access point, a base station, any other device configured to perform the functions, operations, and / or processes described herein, or any combination thereof. Such functions, operations, and / or processes may include, for example, sending, receiving, operating, processing, displaying, storing, determining, creating / generating, monitoring, evaluating, comparing, and / or similar terms as used herein. In one embodiment, these functions, operations and / or processes may be performed on data, content, information and / or similar terms as used herein.

[0099] In the depicted embodiment, computing device 500 includes processing element 505, memory 510, user interface 515, and communication interface 520. Processing element 505, memory 510, user interface 515, and communication interface 520 can communicate via communication bus 525 by reading data from and / or writing data to communication bus 525. Computing device 500 may include other components capable of communicating via communication bus 525. In other embodiments, the computing device does not include communication bus 525, and the components of computing device 500 can communicate with each other in some other manner.

[0100] Processing element 505 (also referred to as one or more processors, processing circuitry, and / or similar terms used herein) is capable of performing operations on an external data source. For example, the processing element may perform operations on data in memory 510, data received via user interface 515, and / or data received via communication interface 520. As will be appreciated, processing element 505 can be implemented in many different ways. In some embodiments, processing element 505 includes one or more complex programmable logic devices (CPLDs), microprocessors, multi-core processors, co-processing entities, application specific instruction set processors (ASIPs), microcontrollers, controllers, integrated circuits, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), hardware accelerators, any other circuitry, or any combination thereof. The term circuitry may refer to a completely hardware embodiment or a combination of hardware and a computer program product. In some embodiments, processing element 505 is configured for a specific purpose, or is configured to execute instructions stored in a volatile or non-volatile medium, or instructions that are otherwise accessible to processing element 505. Thus, whether configured by hardware or a computer program product, or a combination thereof, the processing element 505 is capable of performing steps or operations when configured accordingly.

[0101] The memory 510 in the computing device 500 is configured to store data, computer executable instructions, and / or any other information. In some embodiments, the memory 510 includes volatile memory (also referred to as volatile storage, volatile media, volatile memory circuitry, etc.), nonvolatile memory (also referred to as nonvolatile storage, nonvolatile media, nonvolatile memory circuitry, etc.), or some combination thereof.

[0102] In some embodiments, the volatile memory includes one or more of the following: 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 output 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 two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), two-transistor RAM (TTRAM), thyristor RAM (T-RAM), zero capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, any other memory that requires power to store information, or any combination thereof.

[0103] In some embodiments, the non-volatile memory includes one or more of the following: a hard disk, a floppy disk, a flexible disk, a solid state storage (SSS) (e.g., a solid state drive (SSD), a solid state card (SSC), a solid state module (SSM), an enterprise flash drive, a magnetic tape, any other non-transitory magnetic medium, a compact disk read-only memory (CD-ROM), or a compact disk read-only memory (CD-ROM). The invention may be a memory device comprising: a compact disk - rewritable (CD-RW), a digital versatile disk (DVD), a Blu-ray disk (BD), any other non-transitory optical medium, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory (e.g., serial, NAND, NOR, and / or the like), a multimedia memory card (MMC), a secure digital (SD) memory card, a memory stick, a conductive bridging random access memory (CBRAM), a phase change random access memory (PRAM), a ferroelectric random access memory (FeRAM), a non-volatile random access memory (NVRAM), a magnetoresistive random access memory (MRAM), a resistive random access memory (RRAM), a silicon oxide-nitride-silicon oxide memory (SONOS), a floating junction gate random access memory (FJGRAM), a millipoise memory, a racetrack memory, any other memory that does not require power to store information, or any combination thereof.

[0104] In some embodiments, memory 510 can store one or more of the following: a database, a database instance, a database management system, data, an application, a program, a program module, a script, source code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, or any other information. As used herein, the terms database, database instance, database management system, and / or similar terms may refer to a collection of records or data stored in a computer-readable storage medium using one or more database models, such as a hierarchical database model, a network model, a relational model, an entity-relationship model, an object model, a document model, a semantic model, a graph model, or any other model.

[0105] The user interface 515 of the computing device 500 communicates with one or more input or output devices capable of receiving input into the computing device 500 and / or outputting any output from the computing device 500. Examples of input devices include a keyboard, a mouse, a touch screen display, a touch sensitive pad, a motion input device, a mobile input device, an audio input, a pointing device input, a joystick input, a keyboard input, a peripheral device 440, a foot switch, etc. Examples of output devices include an audio output device, a video output device, a display device, a motion output device, a mobile output device, a printing device, etc. In some embodiments, the user interface 515 includes hardware configured to communicate with one or more input devices and / or output devices via a wired and / or wireless connection.

[0106] The communication interface 520 is capable of communicating with various computing devices and / or networks. In some embodiments, the communication interface 520 is capable of communicating data, content, and / or any other information that can be sent, received, manipulated, processed, displayed, stored, etc. Communications via the communication interface 520 can be performed using a wired data transmission protocol such as Fiber Distributed Data Interface (FDDI), Digital Subscriber Line (DSL), Ethernet, Asynchronous Transfer Mode (ATM), Frame Relay, Data over Cable Service Interface Specification (DOCSIS), or any other wired transmission protocol. Similarly, communication via the communication interface 520 may be performed using a wireless data transmission protocol, such as 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), Global System for Mobile Communications (GSM), Enhanced Data Rates for GSM Evolution (EDGE), Time Division Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution Data Optimized (EVDO), High Speed ​​Packet Access (HSPA), High Speed ​​Downlink Packet Access (HSDPA), IEEE 802.11 (WiFi), WiFi Direct, 802.16 (WiMAX), Ultra Wideband (UWB), Infrared (IR) protocol, Near Field Communication (NFC) protocol, Wibree, Bluetooth protocol, Wireless Universal Serial Bus (USB) protocol, or any other wireless protocol.

[0107] As will be appreciated by those skilled in the art, one or more components of computing device 500 may be located remotely from other components of computing device 500, such as in a distributed system. Furthermore, one or more of the components may be combined, and additional components that perform the functions described herein may be included in computing device 500. Thus, computing device 500 may be adapted to accommodate a variety of needs and situations. The depicted and described architecture and description are provided for exemplary purposes only and are not limited to the various embodiments described herein.

[0108] The embodiments described herein can be implemented in various ways, including as a computer program product comprising an article of manufacture. A computer program product may include a non-transitory computer-readable storage medium storing an application, a program, a program module, a script, a source code, a program code, an object code, a byte code, a compiled code, an interpreted code, a machine code, an executable instruction, and / or the like (also referred to herein as an executable instruction, an instruction for execution, a computer program product, a program code, and / or similar terms used interchangeably herein). Such non-transitory computer-readable storage media include all computer-readable media (including volatile and non-volatile media).

[0109] It should be understood that various embodiments of the embodiments described herein may also be implemented as methods, apparatuses, systems, computing devices, etc. Therefore, the embodiments described herein may take the form of apparatuses, systems, computing devices, etc. that execute instructions stored on a computer-readable storage medium to implement certain steps or operations. Therefore, the embodiments described herein may be implemented entirely in hardware, entirely in a computer program product, or in an embodiment that includes a combination of a computer program product and hardware that performs certain steps or operations.

[0110] The embodiments described herein can be carried out with reference to block diagrams and flow charts. Therefore, it should be understood that the frames of block diagrams and flow charts can be implemented in the form of computer program products, in complete hardware embodiments, in a combination of hardware and computer program products, or in devices, systems, computing devices, etc. that execute instructions, operations, or steps. Such instructions, operations, or steps can be stored on a computer-readable storage medium for execution by a processing element in a computing device. For example, the retrieval, loading, and execution of code can be performed sequentially so that an instruction is retrieved, loaded, and executed once. In some exemplary embodiments, retrieval, loading, and / or execution can be performed in parallel, so as to retrieve, load, and / or execute multiple instructions together. Therefore, such an embodiment can produce a machine that performs a specific configuration of the steps or operations specified in the block diagram and flow chart. Therefore, block diagrams and flow charts support various combinations of embodiments for executing specified instructions, operations, or steps.

[0111] For purposes of this disclosure, terms such as "upper," "lower," "vertical," "horizontal," "inwardly," "outwardly," "inner," "outer," "front," "rear," and the like should be interpreted as descriptive, and not limiting, of the scope of the claimed subject matter. In addition, as used herein, "includes," "comprising," or "having," and variations thereof, are meant to encompass the items listed thereafter and their equivalents as well as additional items. Unless otherwise limited, the terms "connected," "coupled," and "mounted," and variations thereof, are used broadly herein and encompass both direct and indirect connections, couplings, and mountings. Unless otherwise specified, the terms "substantially," "approximately," and the like are used to mean within 5% of a target value.

[0112] The principles, representative embodiments and operating modes of the present disclosure have been described in the foregoing description. However, the aspects of the present disclosure intended to be protected should not be interpreted as being limited to the specific embodiments disclosed. In addition, the embodiments described herein are considered to be illustrative rather than restrictive. It should be understood that modifications and changes may be made by others and equivalents may be adopted without departing from the spirit of the present disclosure. Therefore, it is expressly intended that all such modifications, changes and equivalents fall within the spirit and scope of the present disclosure claimed for protection.

Claims

1. A crawling tool, comprising: a vacuum manifold configured to be coupled to a vacuum source; a flexible membrane that conforms to a non-planar surface of an object; as well as a plurality of vacuum channels coupled in parallel between the vacuum manifold and the flexible membrane, wherein each of the plurality of vacuum channels comprises: a compliant conduit having a proximal end coupled to the vacuum manifold and a distal end coupled to the flexible membrane; a vacuum check valve coupled to the proximal end of the compliant conduit; and a suction cup coupled to the distal end of the compliant conduit; wherein the vacuum check valve is biased to a closed state; and wherein the vacuum check valve is configured to switch from the closed state to an open state when the vacuum source applies a vacuum in the vacuum manifold and the suction cup is engaged by the object; wherein each of the check valves in the plurality of vacuum channels is configured to independently switch between the closed state and the open state such that, regardless of the number of the plurality of vacuum channels having unengaged suction cups, when the vacuum source applies a vacuum in the vacuum manifold, the vacuum is maintained in the vacuum manifold and in the compliant conduits of the plurality of vacuum channels having engaged suction cups. 2 . The gripping tool of claim 1 , wherein each of the compliant conduits of the plurality of vacuum channels comprises a bellows-shaped composite material.

3. The gripping tool according to claim 2, wherein: The bellows-shaped composite material of each of the plurality of vacuum channels includes a first portion proximate the distal end of the compliant conduit, and a second portion; and The first portion of the bellows shaped composite material has a stiffness greater than a stiffness of the second portion of the bellows shaped composite material. 4 . The gripping tool of claim 3 , wherein the suction cup of each of the plurality of vacuum channels is coupled to the first portion of the bellows-shaped composite material.

5. The gripping tool of claim 3, wherein the first portion has a Shore hardness in a range between 48A and 52A, and wherein the second portion has a Shore hardness in a range between 59D and 63D.

6. The gripping tool according to claim 1, wherein: When the proximal end of the compliant tubing is fixedly coupled to the vacuum manifold, each of the distal ends of the compliant tubing is movable in three dimensions relative to the vacuum manifold.

7. The gripping tool according to claim 6, wherein: The distal end of at least one of the compliant conduits is capable of rotating at least 45 degrees relative to the vacuum manifold.

8. The gripping tool of claim 1, wherein the suction cups of the plurality of vacuum channels are integrated with the flexible membrane.

9. The gripping tool of claim 8, wherein each of the suction cups comprises a disc on the object contacting surface of the flexible membrane and a pipe interface on the pipe contacting surface of the flexible membrane.

10. The gripping tool of claim 9, further comprising a deformable material on the object contacting surface of the flexible membrane around at least some of the suction cups.

11. The gripping tool of claim 10, wherein the deformable material comprises a plurality of foam rings coupled to object contacting surfaces around the at least some of the suction cups.

12. The gripping tool of claim 10, wherein the deformable material comprises a sheet of foam material coupled to the object contacting surface, the sheet of foam material having holes therein that align with at least some of the suction cups.

13. The gripping tool of claim 1, wherein the flexible membrane is located between the distal end of the compliant tube and the suction cup such that the suction cup extends away from an object contacting surface of the flexible membrane.

14. The gripping tool according to claim 13, wherein: The suction cups are indirectly coupled to each other via the flexible membrane.

15. The grasping tool according to claim 1, wherein: The compliant conduit and the suction cup of each of the plurality of vacuum channels are integrally formed together.

16. The gripping tool according to claim 15, wherein: The flexible membrane is coupled to an integrally formed compliant conduit and suction cup of each of the plurality of vacuum channels.

17. The gripping tool of claim 1, wherein the flexible membrane, the compliant conduits of the plurality of vacuum channels, and the suction cups of the plurality of vacuum channels are integrally formed as a single component.

18. The gripping tool according to claim 17, wherein: The object contacting surface of the flexible membrane is disposed rearwardly from or coplanar with the distal ends of the suction cups of the plurality of vacuum channels.

19. The grasping tool of claim 1, wherein the compliant tube is made of a substantially uniform material.

20. The grasping tool according to claim 19, further comprising: An intermediate retainer is positioned between the distal end of the compliant conduit and a conduit interface on the conduit contacting surface of the flexible membrane.

21. The gripping tool according to claim 20, wherein: The intermediate retainer has a stiffness greater than the stiffness of one or both of the distal end of the compliant tubing or the tubing interface.

22. The grasping tool according to claim 20, further comprising: an internal retainer positioned inside the pipe interface, wherein the internal retainer and the intermediate retainer exert a compressive force on the pipe interface; as well as An outer retainer is positioned outside of the distal end of the compliant tubing, wherein the intermediate retainer and the outer retainer apply a compressive force on the distal end of the compliant tubing.

23. A method for moving an object, the method comprising: Connecting the grasping tool of claim 1 to an end of a robotic arm; moving the robotic arm until the gripper tool contacts an object at a first location, wherein the gripper tool contacts the object such that at least one of the suction cups of the gripper tool is engaged by a surface of the object; wherein at least one of the suction cups is engaged by a surface of the object such that a vacuum source applies a vacuum in a vacuum manifold, wherein the vacuum in the vacuum manifold and in the compliant conduits associated with at least one of the suction cups applies a force on the object that is greater than a weight of the object such that the object is grasped by the gripping tool; as well as When the vacuum source applies the vacuum in the vacuum manifold to cause the object to be grasped by the gripping tool, the robotic arm is moved to cause the object to move from the first position to a second position.

24. The method according to claim 23, further comprising: After the object is in the second position, causing the vacuum source to stop applying the vacuum in the vacuum manifold so that the object is no longer grasped by the grasping tool; as well as The robotic arm is moved so that the gripping tool is no longer in contact with the object.

25. The method according to claim 23, wherein: The second location is inside the shipping container.

26. The method of claim 25, wherein moving the robotic arm to move the object from the first position to the second position comprises changing an orientation of the object as the object moves from the first position to the second position such that the object has a predetermined orientation within the shipping container.

27. The method according to claim 23, wherein: The surface of the object is a non-planar surface.

28. The method of claim 23, wherein: The object is a vacuum-packed product.

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