System and method for lifting a deformable object

Abstract

A system for lifting a deformable object includes a support structure, two pairs of opposing arms coupled to the support structure, and a fluid dynamic actuator operably coupled in parallel to the pair of opposing arms via a fluid dynamic system. Each arm includes an inclined surface configured to contact the deformable object. When the support structure is positioned over the deformable object on the surface, the fluid dynamic actuator is configured to increase pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, so that (i) each pair of opposing arms independently closes a distance until the inclined surface contacts the side of the deformable object, and (ii) the pair of opposing arms exerts a compressive force on the deformable object, which causes the deformable object to slide upward along the one or more inclined surfaces.

Description

Technical Field

[0001] The present disclosure is in the technical field of lifting a deformable object, such as a raw meat product, from a surface. More particularly, the present disclosure relates to a system and method for lifting a raw meat product using a system including a pair of opposing inclined surfaces coupled in parallel to a fluid dynamic actuator such that each pair of included surfaces independently moves into contact with and lifts a deformable object. Background Art

[0002] Using electromechanical tools can make it difficult to move deformable objects. The deformable nature of the object does not lend itself to being grasped by conventional tools, such as pliers or other end-of-arm tools on a robotic arm. These difficulties in grasping deformable objects reduce or eliminate the reliability and repeatability advantages of electromechanical tools.

[0003] The difficulty of moving a deformable object is compounded when the deformable object is a raw meat product, such as a raw beef cut. Raw meat products have a wide range of sizes and a wide range of weights, making it difficult for a single tool to properly move all types of raw meat products. The manner and force with which the raw meat product is grasped can also damage the raw meat product. In addition, any part of the tool that contacts the raw meat product must be able to be properly cleaned to comply with food and safety regulations. This concern makes complex grasping tools challenging for grasping raw meat products. Summary of the invention

[0004] 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.

[0005] In a first embodiment, a system can be used to lift a deformable object from a surface. The system includes a support structure and a first arm, a second arm, a third arm, and a fourth arm coupled to the support structure. The first arm and the second arm define a first pair of opposing arms, and the third arm and the fourth arm define a second pair of opposing arms. The system also includes a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface located on the first arm, the second arm, the third arm, and the fourth arm, respectively. Each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface is configured to contact the deformable object. The system also includes a fluid power drive operably coupled in parallel to the first pair of opposing arms and the second pair of opposing arms via a fluid power system. When the support structure is positioned above the deformable object on the surface, the fluid dynamic actuator is configured to increase pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, so that (i) each of the first pair of opposing arms and the second pair of opposing arms independently closes a distance until the first inclined surface and the third inclined surface contact the first side of the deformable object and the second inclined surface and the fourth inclined surface contact the second side of the deformable object, and (ii) the first pair of opposing arms and the second pair of opposing arms exert a compressive force on the deformable object, which causes the deformable object to slide upward along one or more of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface to lift the deformable object off the surface.

[0006] In a second embodiment, each of the first pair of opposing arms and the second pair of opposing arms of the first embodiment are centrally aligned such that movement of the first arm toward or away from the second arm causes corresponding movement of the second arm toward or away from the first arm, and movement of the third arm toward or away from the fourth arm causes corresponding movement of the fourth arm toward or away from the third arm.

[0007] In a third embodiment, the system of the second embodiment further comprises a first belt coupled between the first arm and the second arm and a second belt coupled between the third arm and the fourth arm. The first belt and the second belt are coupled to the fluid power system to cause corresponding movement of the first pair of opposing arms and the second pair of opposing arms.

[0008] In a fourth embodiment, each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface of any of the previous embodiments comprises a flexible sheet material.

[0009] In a fifth embodiment, the flexible sheet material of each of the first, second, third and fourth inclined surfaces of the fourth embodiment is fixedly connected to a rigid inclined surface on the distal end of each of the first, second, third and fourth arms.

[0010] In a sixth embodiment, each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface of any one of the preceding embodiments is a rigid surface.

[0011] In a seventh embodiment, the first arm, the second arm, the third arm, and the fourth arm of any of the preceding embodiments include a first finger, a second finger, a third finger, and a fourth finger, which are rotatably coupled to the distal ends of the first arm, the second arm, the third arm, and the fourth arm, respectively. The first finger, the second finger, the third finger, and the fourth finger include a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface, respectively.

[0012] In an eighth embodiment, the first, second, third and fourth fingers of the seventh embodiment include a first side facing contact surface, a second side facing contact surface, a third side contact surface and a fourth side contact surface, respectively. The first side facing contact surface and the third side contact surface are arranged to contact the first side of the deformable object. The second side facing contact surface and the fourth side contact surface are arranged to contact the second side of the deformable object.

[0013] In a ninth embodiment, the first side facing contact surface, the second side facing contact surface, the third side contact surface, and the fourth side contact surface of the eighth embodiment are at a fixed angle relative to the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface, respectively. The first finger, the second finger, the third finger, and the fourth finger are biased toward a lower rotational position. When the first pair of opposing arms and the second pair of opposing arms apply a compressive force on the deformable object, contact between the first contact surface and the third contact surface and the first side of the deformable object and contact between the second contact surface and the fourth contact surface and the second side of the deformable object cause the first finger, the second finger, the third finger, and the fourth finger to rotate toward a higher rotational position.

[0014] In a tenth embodiment, rotation of the first, second, third and fourth fingers of the ninth embodiment from a lower rotational position toward a higher rotational position causes the first, second, third and fourth fingers to exert a lifting force on the deformable object.

[0015] In an eleventh embodiment, each of the first arm, the second arm, the third arm and the fourth arm of any one of the ninth to tenth embodiments comprises a biasing mechanism configured to bias the first finger, the second finger, the third finger and the fourth finger to a lower rotational position.

[0016] In a twelfth embodiment, each of the first finger-like member, the second finger-like member, the third finger-like member and the fourth finger-like member of any one of the ninth to eleventh embodiments is removably connected to the distal end of the first arm, the second arm, the third arm and the fourth arm respectively via a pin, and wherein each of the first finger-like member, the second finger-like member, the third finger-like member and the fourth finger-like member is configured to rotate about the pin so as to rotate about a corresponding one of the first arm, the second arm, the third arm and the fourth arm.

[0017] In a thirteenth embodiment, the system of any of the preceding embodiments further comprises a fifth arm and a sixth arm coupled to the support structure. The fifth arm and the sixth arm define a third pair of opposing arms. The system further comprises a fifth inclined surface and a sixth inclined surface respectively located on the fifth arm and the sixth arm. Each of the fifth inclined surface and the sixth inclined surface is configured to contact the deformable object. The fluid dynamic drive is operably coupled to the first, second and third pairs of opposing arms in parallel via the fluid dynamic system. When the fluid dynamic drive increases the pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, (i) the third pair of opposing arms independently closes a distance until the fifth inclined surface contacts the first side of the deformable object and the sixth inclined surface contacts the second side of the deformable object, and (ii) the third pair of opposing arms applies a compressive force on the deformable object, which causes the deformable object to slide upward along one or more of the fifth inclined surface and the sixth inclined surface to lift the deformable object off the surface.

[0018] In the fourteenth embodiment, the fifth and sixth arms of the thirteenth embodiment include fifth and sixth fingers rotatably coupled to distal ends of the fifth and sixth arms, respectively. The fifth and sixth fingers include fifth and sixth inclined surfaces, respectively.

[0019] In a fifteenth embodiment, the fifth finger and the sixth finger of the fourteenth embodiment include a fifth lateral contact surface and a sixth lateral contact surface, respectively. The fifth lateral contact surface is arranged to contact the first side of the deformable object. The sixth lateral contact surface is arranged to contact the second side of the deformable object.

[0020] In a sixteenth embodiment, the fifth lateral contact surface and the sixth lateral contact surface of the fifteenth embodiment are at a fixed angle relative to the fifth inclined surface and the sixth inclined surface, respectively. The fifth finger and the sixth finger are biased toward a lower rotational position. When the third pair of opposing arms applies a compressive force on the deformable object, contact between the fifth contact surface and the first side of the deformable object and contact between the sixth contact surface and the second side of the deformable object cause the fifth finger and the sixth finger to rotate toward a higher rotational position.

[0021] In a seventeenth embodiment, rotation of the fifth and sixth fingers of the sixteenth embodiment from a lower rotational position toward a higher rotational position causes the fifth and sixth fingers to exert a lifting force on the deformable object.

[0022] In an eighteenth embodiment, the fluid power actuator of any preceding embodiment is a pneumatic cylinder, and the fluid power system is a gas power system.

[0023] In a nineteenth embodiment, a system can be used to lift a deformable object from a surface. The system includes a support structure, a first arm structure and a second arm structure, and a plurality of first inclined surfaces coupled to the first arm structure. A first inclined surface of the plurality of first inclined surfaces is configured to contact a first side of the deformable object. The system also includes a plurality of second inclined surfaces coupled to the second arm structure. A second inclined surface of the plurality of second inclined surfaces is configured to contact a second side of the deformable object. The system also includes a fluid power drive operably coupled in parallel to the plurality of first inclined surfaces and the plurality of first inclined surfaces via a fluid power system. When the support structure is positioned above the deformable object on the surface, the fluid dynamic drive is configured to increase pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, so that (i) each of the plurality of first inclined surfaces independently moves a distance until a first inclined surface of the plurality of first inclined surfaces contacts a first side of the deformable object, and a second inclined surface of the plurality of second inclined surfaces independently moves a distance until a second inclined surface of the plurality of second inclined surfaces contacts a second side of the deformable object, and (ii) the plurality of first inclined surfaces and the plurality of second inclined surfaces exert a compressive force on the deformable object, which causes the deformable object to slide upward along one or more of the first and second inclined surfaces to lift the deformable object off the surface.

[0024] In a twentieth embodiment, a method for lifting a deformable object from a surface can be performed. The method includes positioning a support structure and a deformable object relative to each other so that the support structure is above the deformable object. The support structure is coupled to a first arm, a second arm, a third arm, and a fourth arm. The first arm and the second arm define a first pair of opposing arms, and the third arm and the fourth arm define a second pair of opposing arms. The support structure is coupled to a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface located on the first arm, the second arm, the third arm, and the fourth arm, respectively. Each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface is configured to contact the deformable object. The support structure is coupled to a fluid power drive, which is operably coupled in parallel to the first pair of opposing arms and the second pair of opposing arms via a fluid power system. When the support structure is positioned above the deformable object on the surface, pressure in the fluid power system is increased by the fluid power actuator until the pressure in the fluid power system reaches a predetermined level, so that (i) each of the first pair of opposing arms and the second pair of opposing arms independently closes a distance until the first inclined surface and the third inclined surface contact the first side of the deformable object and the second inclined surface and the fourth inclined surface contact the second side of the deformable object, and (ii) the first pair of opposing arms and the second pair of opposing arms apply a compressive force on the deformable object, which causes the deformable object to slide upward along one or more of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface to lift the deformable object off the surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated and become better understood when reference is made to the following detailed description taken in conjunction with the accompanying drawings, wherein:

[0026] Figure 1 depicts an embodiment of a system for lifting a deformable object off a surface according to embodiments described herein;

[0027] Figure 2 Depicts an embodiment according to the present invention Figure 1 A partial top view of the system shown;

[0028] Figure 3A and 3B According to the embodiments described herein, the use Figure 1 and 2 A partial front view and top cross-sectional view of a first aspect of the method of the system for lifting a deformable object from a surface;

[0029] Figure 4A and 4B Describes the embodiments described herein, starting from Figure 3A and3B A partial front view and a top cross-sectional view of a second situation of the method;

[0030] Figure 5A and 5B Describes the embodiments described herein, starting from Figure 3A and 3B A partial front view and a top cross-sectional view of a third situation of the method;

[0031] Fig. 6A and 6B Describes the embodiments described herein, starting from Figure 3A and 3B A partial front view and a top cross-sectional view of a fourth situation of the method;

[0032] Fig. 7A and 7B Describes the embodiments described herein, starting from Figure 3A and 3B A partial front view and a top cross-sectional view of a fifth situation of the method;

[0033] Fig. 8A and 8B Describes the embodiments described herein, starting from Figure 3A and 3B A partial front view and a top cross-sectional view of a sixth aspect of the method;

[0034] Figures 9A to 9D An embodiment of a system according to embodiments described herein and an embodiment of a method of using the system to lift a deformable object from a surface is depicted, the system comprising a pair of opposing arms having rotatable fingers;

[0035] Fig. 10A and 10B depicts a partial front view and a partial perspective view, respectively, of a system including a static finger according to an embodiment described herein;

[0036] Figures 11A to 11C Depicted is a method of using a Fig. 10A and 10B The illustrated system is a case of an embodiment of a method for lifting a deformable object from a surface;

[0037] Fig. 12A and 12B depicts a partial front view and a partial perspective view, respectively, of a system including a static finger having a flexible sheet material according to an embodiment described herein;

[0038] Figures 13A to 13C Depicted is a method of using a Fig. 12A and 12BThe illustrated system is a case of an embodiment of a method for lifting a deformable object from a surface;

[0039] Figures 14A to 14E Depicted is a method of using a Figure 1 and Figure 2 An embodiment of a method for lifting and moving a deformable object within an environment by a system as shown in;

[0040] Fig.15 Describes example embodiments of systems that can be used to implement some or all of the embodiments described herein; and

[0041] Fig.16 Depicted is a block diagram of an embodiment of a computing device in accordance with embodiments described herein. DETAILED DESCRIPTION

[0042] Figure 1 An embodiment of a system 100 for lifting a deformable object off a surface is depicted. The system 100 includes a support structure 110. In the depicted embodiment, the support structure 110 includes a frame 112. The frame 112 is coupled to brackets 1141, 1142, 1143 (collectively, brackets 114). Each bracket 114 is configured to hold a pair of opposing arms, as discussed in more detail below. The support structure also includes ports 1161, 1162, 1163 (collectively, ports 116) located on the brackets 1141, 1142, 1143, respectively. The ports 116 are configured to be coupled in parallel to a fluid power system (e.g., a pneumatic system or a hydraulic system). The system 100 is configured to move the arms coupled to the brackets 114 by changing the pressure in the fluid power system, as discussed in more detail below. In the depicted embodiment, the support structure 110 also includes a coupling mechanism 118 coupled to the frame 112. The coupling mechanism 118 is configured to couple to a mobile device (eg, a conveyor, a robotic arm, or any other device capable of moving) in order to couple the system 100 to the mobile device.

[0043] System 100 also includes arms 1201, 1202, 1203, 1204, 1205, 1206 (collectively referred to as arms 120). Arms 1201 and 1202 are movably coupled to bracket 1141 and form a pair of opposing arms. Arms 1201 and 1202 are capable of translationally moving toward and away from each other. In some embodiments, arms 1201 and 1202 are biased away from each other by a biasing mechanism (e.g., a compression spring). Figure 1 One or both of arms 1201 and 1202 can be moved toward the other, such as by increasing pressure in a fluid power system coupled to port 1161 .

[0044] Similarly, arms 1203 and 1204 are movably coupled to bracket 1142 and form a pair of opposing arms. Arms 1205 and 1206 are also movably coupled to bracket 1142 and form a pair of opposing arms. Arms 1203 and 1204 are capable of translationally moving toward and away from each other, and arms 1205 and 1206 are capable of translationally moving toward and away from each other. In some embodiments, arms 1203 and 1204 are biased away from each other by a biasing mechanism, and arms 1205 and 1206 are biased away from each other by a biasing mechanism to Figure 1 One or both of arms 1203 and 1204 can be moved toward the other, such as by increasing pressure in a fluid power system coupled to port 1162. One or both of arms 1205 and 1206 can be moved toward the other, such as by increasing pressure in a fluid power system coupled to port 1163.

[0045] The system 100 also includes inclined surfaces 1301, 1302, 1303, 1304, 1305, 1306 (collectively, inclined surfaces 130). The inclined surfaces 130 are configured to contact the sides of the deformable object when the deformable object is being lifted by the system 100. The inclined surfaces 1301, 1302, 1303, 1304, 1305, 1306 are located on the arms 1201, 1202, 1203, 1204, 1205, 1206, respectively. In the depicted embodiment, the system 100 further includes fingers 1321, 1322, 1323, 1324, 1325, 1326 (collectively, fingers 132) rotatably coupled to the distal ends of the arms 1201, 1202, 1203, 1204, 1205, 1206, respectively. In this embodiment, fingers 1321, 1322, 1323, 1324, 1325, 1326 include angled surfaces 1301, 1302, 1303, 1304, 1305, 1306, respectively. In the depicted embodiment, fingers 1321, 1322, 1323, 1324, 1325, 1326 are removably coupled to distal ends of arms 1201, 1202, 1203, 1204, 1205, 1206, respectively, by pins 1341, 1342, 1343, 1344, 1345, 1346. The ability to easily (e.g., manually without the aid of tools) remove fingers 132 from the distal end of arm 120 allows fingers 132 to be quickly removed from arm 120, such as to clean fingers 132.

[0046] Figure 2 A partial top view of system 100 is depicted, including portions of bracket 114 , port 116 , arm 120 , and angled surface 130 . Figure 2The system 100 is also depicted to include biasing mechanisms 1221, 1222, 1223 (collectively, biasing mechanisms 122). In the depicted embodiment, biasing mechanism 1221 is configured to bias arms 1201 and 1202 away from each other, biasing mechanism 1222 is configured to bias arms 1203 and 1204 away from each other, and biasing mechanism 1223 is configured to bias arms 1205 and 1206 away from each other. In some embodiments, the biasing mechanism includes one or more of a compression spring, a piston / cylinder mechanism, a stack of Belleville washers, or any other biasing mechanism.

[0047] Figure 2 The system 100 is further depicted to include drive mechanisms 1241, 1242, 1243 (collectively referred to as drive mechanism 124). In the depicted embodiment, drive mechanism 1241 is configured to move one or both of arms 1201 and 1202 toward the other, drive mechanism 1242 is configured to move one or both of arms 1203 and 1204 toward the other, and drive mechanism 1243 is configured to move one or both of arms 1205 and 1206 toward the other. In the depicted embodiment, drive mechanism 124 is a belt and wheel assembly, wherein one wheel is driven by a fluid power system. In other embodiments, drive mechanism 124 may include one or more rack and pinion systems, rope and pulley systems, or any other mechanism that can move arm 120 and / or overcome the biasing force of biasing mechanism 122.

[0048] In the depicted embodiment, drive mechanism 124 is configured such that each pair of opposing arms is centrally aligned. In other words, drive mechanism 1241 is configured such that movement of arm 1201 toward or away from arm 1202 results in corresponding movement of arm 1202 toward or away from arm 1201, drive mechanism 1242 is configured such that movement of arm 1203 toward or away from arm 1204 results in corresponding movement of arm 1204 toward or away from arm 1203, and drive mechanism 1243 is configured such that movement of arm 1205 toward or away from arm 1206 results in corresponding movement of arm 1206 toward or away from arm 1205. In other embodiments, drive mechanism 124 can be configured such that each pair of opposing arms is side-aligned, wherein one arm of each pair of opposing arms does not move relative to the support structure.

[0049] The system 100 also includes a fluid power actuator 140. In some embodiments, the fluid power actuator 140 is a gas powered cylinder (e.g., a pneumatic cylinder) or a liquid powered cylinder (e.g., a hydraulic cylinder). The fluid power actuator 140 is coupled to a fluid power system 142. In some embodiments, the fluid power system 142 is a gas fluid power system (e.g., a pneumatic system) or a liquid power system (e.g., a hydraulic system). In some embodiments, the fluid power system 142 includes a conduit (e.g., a pipe, a tube, etc.) that contains a fluid (such as a gas or a liquid). The fluid power actuator 140 is configured to increase or decrease the pressure of the fluid in the fluid power system 142.

[0050] A fluid power system 142 is coupled to each port 116 in parallel. The ports 116 are coupled to a corresponding drive mechanism 124 (e.g., via a pneumatic actuator or a hydraulic actuator) such that an increase in pressure in the fluid power system 142 actuates the drive mechanism 124 to move pairs of arms in the system 100 (e.g., parallel to pairs of arms 1201 and 1202, pairs of arms 1203 and 1204, and pairs of arms 1205 and 1206). In this way, the fluid power system 142 couples the fluid power actuators 140 in parallel to the pairs of arms in the system 100. Thus, when the fluid power actuators 140 increase the pressure in the fluid power system 142, the increase in pressure is applied substantially equally to each pair of arms in the system 100. The advantages of coupling the fluid power actuators 140 in parallel to pairs of arms in the system 100 will be discussed in more detail below.

[0051] Figure 2 The system 100 is further depicted to include a pressure sensor 144 and a computing device 146. The pressure sensor 144 is configured to measure pressure in the fluid power system 142. In the depicted embodiment, the pressure sensor 144 is located separately from the fluid power drive 140 along the fluid power system 142. In other embodiments, the pressure sensor 144 can be integrated with the fluid power drive 140. A computing device 146 (e.g., a controller) is communicatively coupled to the fluid power drive 140 and the pressure sensor 144. The computing device 146 is configured to control the fluid power drive 140 based on the pressure measured by the pressure sensor 144. For example, the computing device 146 can control the fluid power drive 140 to increase the pressure in the fluid power system 142 until the pressure measured by the pressure sensor 144 reaches a predetermined level. In the depicted embodiment, the computing device 146 is external to the fluid power drive 140 and the pressure sensor 144. In other embodiments, the computing device 146 can be integrated with one or both of the fluid power drive 140 and the pressure sensor 144.

[0052] The system 100 may be used to lift a deformable object from a surface. Figures 3A to 8BDepicted in FIG. 1 is an embodiment of a method of a system 100 being used to lift a deformable object 150 from a surface 152. More specifically, Figure 3A and 3B A partial front view and a top cross-sectional view respectively depict a first aspect of the method; Figure 4A and 4B A partial front view and a top cross-sectional view respectively depict a second aspect of the method; Figure 5A and 5B A partial front view and a top cross-sectional view respectively depict a third aspect of the method; Fig. 6A and 6B depicts a partial front view and a top cross-sectional view of a fourth aspect of the method, respectively; Fig. 7A and 7B a partial front view and a top cross-sectional view respectively depicting a fifth aspect of the method; and Fig. 8A and 8B A partial front view and a top cross-sectional view of a sixth aspect of the method are depicted, respectively. In some embodiments, the deformable object 150 can be a food product, such as a piece of raw meat, a vacuum-sealed piece of raw meat, a piece of fresh produce, or any other type of food product. In some embodiments, the surface 152 can be a conveyor belt, a tabletop, a shelf, or any other type of surface.

[0053] exist Figure 3A and 3B In the first case shown, the deformable object 150 is located on a surface 152, and the system 100 is oriented so that one arm 120 of each pair of opposing arms is on either side of the deformable object 150. In some embodiments, the system 100 is coupled to the end of a robotic arm, and the robotic arm is configured to position the system 100 relative to the object 150, such as Figure 3A and 3B In the first case depicted, the arms 120 in each pair of opposing arms are biased away from each other by the biasing mechanism 122, to the extent permitted by the support structure 110. The fluid power drive 140 has not yet increased the pressure in the fluid power system 142 to a level that would cause the drive mechanism 124 to exert a force on the arms 120 that is greater than the force exerted on the arms 120 by the biasing mechanism 122.

[0054] The fluid power drive 140 can be Figure 3A and 3B The first condition shown begins to increase the pressure in the fluid power system 142 until the pressure reaches a predetermined level. Figure 3A and 3B After the first case shown, until Fig. 8A and 8B In the sixth case shown, the pressure in the fluid power system 142 is increased by the fluid power driver 140 . Figures 4A to 8B Each of the second to sixth situations in shows a pressure level in the fluid power system 142 that is greater than the previous situation. Fig. 8A and 8B In the sixth scenario shown, the pressure in the fluid power system 142 has reached a predetermined level.

[0055] from Figure 3A and 3B The first case shown to Figure 4A and 4B In the second condition shown, fluid dynamic actuator 140 has increased the pressure in fluid dynamic system 142 to move the pairs of opposing arms toward each other. In particular, arm 1201 and arm 1202 have moved toward each other, arm 1203 and arm 1204 have moved toward each other, and arm 1205 and arm 1206 have moved toward each other. Because the pairs of opposing arms are coupled to fluid dynamic actuator 140 in parallel, and each pair of arms has substantially the same resistance between them prior to the second condition, arms 1201, 1203, and 1205 tend to move substantially the same distance between the first and second conditions, and arms 1202, 1204, and 1206 tend to move substantially the same distance between the first and second conditions. Figure 4A and 4B In the second case shown, the inclined surfaces 1303 and 1304 of the arms 1203 and 1204 have respectively contacted the right and left sides of the deformable object 150. The deformable object 150 is not completely straight along the right and left sides, so that the inclined surfaces 1301, 1302, 1305, and 1306 of the arms 1201, 1202, 1205, and 1206 are not in contact with the deformable object 150.

[0056] from Figure 4A and 4B The second case shown to Figure 5A and 5BIn the third case shown, the fluid dynamic actuator 140 has increased the pressure in the fluid dynamic system 142. The resistance to the movement of arms 1203 and 1204 due to the contact between arms 1203 and 1204 and deformable object 150 is much higher than the resistance to the movement of arms 1201 and 1202 and arms 1205 and 1206 from the air. Because the pairs of arms 1201 and 1202, the pairs of arms 1203 and 1204, and the pairs of arms 1205 and 1206 are coupled in parallel to the fluid dynamic actuator 140, the increase in pressure in the fluid dynamic system 142 from the second case to the third case causes arms 1201 and 1202 and arms 1205 and 1206 to continue to move toward each other. Because the pair of opposing arms 1201 and 1202 and the pair of opposing arms 1205 and 1206 are coupled to the fluid dynamic drive 140 in parallel, the arms 1201 and 1205 tend to move substantially the same distance between the second and third conditions, and the arms 1202 and 1206 tend to move substantially the same distance between the second and third conditions. Figure 5A and 5B In the third case shown, the inclined surfaces 1301 and 1302 of the arms 1201 and 1202 have respectively contacted the right and left sides of the deformable object 150. The deformable object 150 is not completely straight along the right and left sides, so that the inclined surfaces 1305 and 1306 of the arms 1205 and 1206 are not in contact with the deformable object 150.

[0057] from Figure 5A and 5B The third case shown is Fig. 6A and 6B In the fourth case shown, fluid dynamic actuator 140 has increased the pressure in fluid dynamic system 142. The resistance to movement of arms 1201 and 1202 and arms 1203 and 1204 from deformable object 150 is much higher than the resistance to movement of arms 1205 and 1206 from the air. Because pairs of arms 1201 and 1202, pairs of arms 1203 and 1204, and pairs of arms 1205 and 1206 are coupled to fluid dynamic actuator 140 in parallel, the increase in pressure in fluid dynamic system 142 from the third case to the fourth case causes arms 1205 and 1206 to continue to move toward each other. Fig. 6A and 6B In the fourth case shown, the inclined surfaces 1301 and 1302 of the arms 1201 and 1202 have respectively contacted the right and left sides of the deformable object 150. The deformable object 150 is not completely straight along the right and left sides, so that the inclined surfaces 1305 and 1306 of the arms 1205 and 1206 are not in contact with the deformable object 150.

[0058] from Fig. 6A and 6BThe fourth case shown is Fig. 7A and 7B In the fifth case shown, the fluid dynamic actuator 140 has increased the pressure in the fluid dynamic system 142. Because all of the inclined surfaces 130 were in contact with the deformable object 150 in the fourth case, the increase in pressure in the fluid dynamic system 142 from the fourth case to the fifth case causes the arm 120 to exert a compressive force on the deformable object 150. The compressive force exerted by the arm 120 on the deformable object 150 causes the deformable object 150 to slide upward along the inclined surface 130 and lift the deformable object 150 off the surface 152.

[0059] from Fig. 7A and 7B The fifth case shown is Fig. 8A and 8B In the sixth case shown, the fluid power driver 140 has increased the pressure in the fluid power system 142 to a predetermined pressure. From the fifth case to the sixth case, the increase in pressure in the fluid power system 142 causes the arm 120 to further exert a compressive force on the deformable object 150. The compressive force exerted by the arm 120 on the deformable object 150 causes the deformable object 150 to slide further up the inclined surface 130 and lift the deformable object 150 further away from the surface 152. In some embodiments, the predetermined pressure is selected based on one or more of a desired amount of compressive force exerted by the arm 120 on the deformable object 150, a desired height to lift the deformable object 150 from the surface 152, or any other desired result of the movement of the arm 120.

[0060] Figures 3A to 8BThe depicted embodiment of the method illustrates some advantages of the system 100, wherein the fluid dynamic actuator 140 is coupled in parallel to the pair of opposing arms 1201 and 1202, the pair of opposing arms 1203 and 1204, and the pair of opposing arms 1205 and 1206. One benefit is that each pair of opposing arms can close a different distance around the deformable object 150 while being driven with substantially the same force in the direction of travel. In the depicted example, the pair of opposing arms 1203 and 1204 moves toward each other a minimum amount until the inclined surfaces 1303 and 1304 contact the deformable object 150, the pair of opposing arms 1201 and 1202 moves toward each other a greater amount until the inclined surfaces 1301 and 1302 contact the deformable object 150, and the pair of opposing arms 1205 and 1206 moves toward each other a maximum amount until the inclined surfaces 1305 and 1306 contact the deformable object 150. In other embodiments, where the deformable objects 150 have different sizes and / or shapes, each pair of opposing arms may close to a different length based on the size and / or shape of the deformable object 150. In the case where the system 100 is used to pick up many different deformable objects having different shapes and / or sizes, the closure of the pairs of opposing arms is adapted to the shape and / or size of each deformable object.

[0061] Another benefit of system 100 is that arm 120 is able to reliably and stably lift deformable object 150. If arms 1201, 1203, and 1205 were required to move in unison, and arms 1202, 1204, and 1206 were required to move in unison, the result would be unstable lifting of deformable object 150. For example, after inclined surfaces 1303 and 1304 initially contact deformable object 150 (e.g., Figure 4A and 4BIn the second case shown), continued movement of arms 1201, 1203, and 1205 toward deformable object 150 and continued movement of arms 1202, 1204, and 1206 toward deformable object 150 will cause inclined surfaces 1303 and 1304 to apply a lifting force near the middle of deformable object 150 before inclined surfaces 1301, 1302, 1305, and 1306 make contact with deformable object 150. The result will be instability of deformable object 150 as it is lifted by inclined surfaces 1303 and 1304 before being supported by inclined surfaces 1301, 1302, 1305, and 1306. In such unstable lifting, deformable object 150 may wobble and / or fall off system 100, thereby potentially damaging deformable object 150 and / or system 100. In contrast, the coupling of pairs of opposing arms 120 in system 100 allows each inclined surface 130 to contact deformable object 150 before any arm 120 exerts a significant lifting force. Then, when all inclined surfaces 130 are in contact with deformable object 150, all inclined surfaces 130 provide a lifting force to reliably and stably lift deformable object 150 from surface 152.

[0062] Another benefit of system 100 is that arm 120 can conform to the unique shape and / or size of a deformable object without any part of the feedback system being located on arm 120. Figure 2 As can be seen in FIG. 1 , the pressure sensor 144 and the computing device 146 can be located remotely from the arm 120. In some embodiments, the pressure sensor 144 and / or the computing device 146 can be integrated with the fluid dynamic actuator 140, which itself can be remotely located from the arm 120. In this system, there is no need to measure the amount of force applied by each arm 120, there is no need to measure the distance traveled by each arm 120, there is no need to determine whether each arm 120 has made contact with the deformable object 150, etc. By controlling the fluid dynamic actuator 140 based on the pressure measured in the fluid dynamic system 142, all functions of the arm 120 can be passively controlled (i.e., controlled without directly measuring any aspect of the arm). In the case where the system 100 is used to lift a deformable food (e.g., a piece of raw meat), any part of the system 100 that may come into contact with the deformable food must be cleaned and / or replaced periodically. The absence of additional equipment (such as feedback sensors, actuators, etc.) on the arm 120 greatly reduces the number of parts of the system 100 that are subject to cleaning and / or replacement due to potential contact with the food.

[0063] An embodiment of the system 100 includes three pairs of opposing arms 120. It will be apparent that the system 100 can have any number of pairs of opposing arms, such as two pairs of opposing arms, four pairs of opposing arms, or any other number of pairs of opposing arms. In some embodiments, a greater number of pairs of opposing arms can allow the arms to better conform to the shape of the deformable object. However, a greater number of pairs of opposing arms also increases the complexity of the system. In some embodiments, the number of pairs of opposing arms, such as three pairs of opposing arms or four pairs of opposing arms, can be selected based on the amount of conformance to the expectations of the deformable object, the amount of expected complexity of the system, the expected size and / or shape of the deformable object to be lifted by the system, any other factor, or any combination thereof.

[0064] In some embodiments, a system with pairs of opposing arms may have different types of fingers at the ends of the arms. Figures 9A to 9D A system having a rotatable finger on the end of an arm is depicted in FIG. Figures 10A to 11C A static finger system on the end of an arm is depicted in FIG. In yet another example, Figures 12A to 13C A static finger system with a flexible surface on the end of the arm is depicted in FIG.

[0065] Figures 9A to 9D Depicted in FIG. 1 is an embodiment of system 200 that includes arm 2201 and arm 2202 (collectively referred to as arm 220) forming a pair of opposing arms. In some embodiments, system 200 includes at least a second pair of opposing arms (at least one pair of opposing arms) following pair of opposing arms 220. Figures 9A to 9D In some embodiments, system 200 also includes a support structure (in Figures 9A to 9D 2). The system 200 also includes inclined surfaces 2301 and 2302 (collectively, inclined surfaces 230). Inclined surfaces 230 are configured to contact the sides of the deformable object 250 when the deformable object 250 is lifted from the surface 252 by the system 200. Inclined surfaces 2301 and 2302 are located on arms 2201 and 2202, respectively. In the depicted embodiment, the system 200 also includes fingers 2321 and 2322 (collectively, fingers 232). In the depicted embodiment, the fingers 232 are rotatably coupled to the distal ends of the arms 220. In the depicted embodiment, the fingers 2321 and 2322 include inclined surfaces 2301 and 2302, respectively. In the depicted embodiment, the fingers 2321 and 2322 are removably coupled to the distal ends of the arms 2201 and 2202, respectively, by pins 2341 and 2342. The ability to easily (eg, manually without the aid of tools) remove the finger 232 from the distal end of the arm 220 allows the finger 232 to be quickly removed from the arm 220 , such as to clean the finger 232 .

[0066] In the depicted embodiment, the fingers 2321 and 2322 further include lateral contact surfaces 2361 and 2362, respectively (collectively, lateral contact surfaces 236). In embodiments where the system 200 further includes at least one additional pair of opposing arms, the fingers of the additional pair of opposing arms may further include lateral contact surfaces. The lateral contact surfaces 236 are arranged to contact the sides of the deformable object 250. In particular, the lateral contact surface 2361 is arranged to contact the right side of the deformable object 250, and the lateral contact surface 2362 is arranged to contact the left side of the deformable object 250. In the depicted embodiment, the lateral contact surfaces 236 are at a fixed angle relative to the inclined surface 230. As will be discussed in more detail below, the contact between the lateral contact surfaces 236 and the deformable object 250 can help lift the deformable object 250 from the surface 252.

[0067] exist Fig.9A In the illustrated embodiment, finger 232 is rotationally biased toward a lower rotational position. In some embodiments, finger 232 can be rotationally biased to a lower rotational position by gravity. In the depicted embodiment, fingers 2321 and 2322 are rotationally biased to a lower rotational position by biasing mechanisms 2381 and 2382 (collectively referred to as biasing mechanism 238), respectively. In particular, biasing mechanism 2381 is configured to bias finger 2321 counterclockwise to a lower rotational position, and biasing mechanism 2382 is configured to bias finger 2322 clockwise to a lower rotational position. In some embodiments, finger 232 is prevented from rotating beyond a lower rotational position due to physical interference with arm 220. In some embodiments, biasing mechanism 238 can be a torsion spring, a compression spring, a spring-loaded pin, or any other type of biasing mechanism. In embodiments where the system 200 further includes at least one additional pair of opposing arms, the arms of the additional pair of opposing arms may further include a biasing mechanism to rotationally bias the fingers of the additional pair of opposing arms to a lower rotational position. In the depicted embodiment, each biasing mechanism is fixedly coupled to one of the arms 220 and is configured to contact and exert a force on a back surface opposite one of the lateral contact surfaces 236.

[0068] Figures 9A to 9D Each of the embodiments depicts a method of an embodiment of the system 200 for lifting a deformable object 250 from a surface 252. Fig.9A In the embodiment shown in FIG. 2 , the arm 220 is withdrawn from the side of the deformable object 250 and the finger 232 is biased toward a lower rotational position. Fig.9AIn the depicted situation, neither finger 2321 nor 2322 has yet made contact with surface 252. If one or both of fingers 2321 and 2322 have made contact with surface 252, finger 232 may rotate. The ability of finger 232 to rotate in response to contact with surface 252 is particularly helpful if surface 252 is not flat (e.g., not level), is a compliant material (e.g., a rubber conveyor belt), or other similar non-rigid and / or non-level surface. Fig. 9B In the embodiment of the present invention, arms 220 have been closed until inclined surface 230 has contacted the right and left sides of deformable object 250. In some embodiments, system 200 includes a fluid dynamic actuator operably coupled in parallel to each pair of opposing arms via a fluid dynamic system, and arms 220 are closed by the fluid dynamic actuator increasing the pressure in the fluid dynamic system. Figures 9A to 9D Not shown, but each pair of opposing arms in system 200 is coupled in parallel to a fluid dynamic actuator so that each pair of arms can close a different distance until the inclined surfaces 230 are all in contact with the sides of the deformable object 250.

[0069] from Fig. 9B The situation shown to Fig. 9C In the case shown in Figure 1, the fluid power actuator has increased the pressure in the fluid power system. Fig. 9B In the case shown, all inclined surfaces 230 are in contact with the deformable object 250, so the pressure in the fluid power system increases to Fig. 9C The situation shown causes the arm 220 to exert a compressive force on the deformable object 250. The compressive force exerted by the arm 220 on the deformable object 250 causes the deformable object 250 to slide upward along the inclined surface 230 and lift the deformable object 250 off the surface 252. Fig. 9C In the illustrated situation, the deformable object 250 has not yet come into contact with the lateral contact surfaces 236 of the fingers 232 .

[0070] from Fig. 9C The situation shown to Fig.9D In the illustrated situation, the fluid power driver has increased the pressure in the fluid power system to a predetermined pressure. The increased pressure in the fluid power system has caused the arm 220 to close further until the side of the deformable object 250 has contacted the side contact surface 236 of the finger 232, which has caused the deformable object 250 to exert a force on the side contact surface 236. The force from the deformable object 250 on the side contact surface 236 has caused the finger 232 to rotate in the opposite direction until the finger is in a Fig.9DThe reverse rotation of the finger 232 causes the inclined surface 230 to rotate upward and further lift the deformable object 250 off the surface 252. In some embodiments, the finger 232 is prevented from reversely rotating beyond the higher rotational position due to physical interference with the arm 220. In some embodiments, the force applied by the biasing mechanism 238 (e.g., the spring force of the biasing mechanism 238) is selected so that when the pressure in the fluid power system is at a predetermined pressure, the force applied by the deformable object 250 on the lateral contact surface 236 will overcome the force of the biasing mechanism 238 to allow the finger 232 to reversely rotate to the lower position. Fig.9D Higher rotation position shown.

[0071] Fig. 10A and 10B A partial front view and a partial perspective view of a system 300 including a static finger are depicted, respectively. The system 300 includes arms 3201, 3202, 3203, 3204 (collectively referred to as arms 320) that form two pairs of opposing arms. In some embodiments, the system 300 also includes a support structure (in Figures 10A to 10B 3304 (not visible in the figure). System 300 also includes inclined surfaces 3301, 3302, 3303, 3304 (collectively, inclined surfaces 330). Inclined surfaces 330 are configured to contact the sides of the deformable object when system 300 lifts the deformable object from the surface. Inclined surfaces 3301, 3302, 3303, 3304 are located on arms 3201, 3202, 3203, 3204, respectively. In the depicted embodiment, system 300 also includes fingers 3321, 3322, 3323, 3324 (collectively, fingers 332). In the depicted embodiment, fingers 332 are statically coupled to the distal end of arm 320. In the depicted embodiment, fingers 3321, 3322, 3323, 3324 include inclined surfaces 3301, 3302, 3303, 3304, respectively.

[0072] Figures 11A to 11C An embodiment of a method of a system 300 for lifting a deformable object 350 from a surface 352 is depicted. Fig.11A , arm 320 is withdrawn from the side of deformable object 350 and finger 332 is positioned slightly above surface 352. Fig. 11B In the embodiment of the present invention, arms 320 have been closed until inclined surface 330 has contacted the right and left sides of deformable object 350. In some embodiments, system 300 includes a fluid dynamic actuator operably coupled in parallel to each pair of opposing arms via a fluid dynamic system, and arms 320 are closed by the fluid dynamic actuator increasing the pressure in the fluid dynamic system. Figures 11A to 11CNot shown, but each pair of opposing arms in system 300 is coupled in parallel to a fluid dynamic actuator so that each pair of arms can close a different distance until the inclined surfaces 330 are all in contact with the sides of the deformable object 350.

[0073] from Fig. 11B The situation shown to Fig. 11C In the case shown, the fluid power driver has increased the pressure in the fluid power system (e.g., to a predetermined pressure). Fig. 11B In the illustrated case, all inclined surfaces 330 are in contact with the deformable object 350, so the pressure in the fluid power system increases to Fig. 11C 330, and the arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332. The arm 320 is provided with a plurality of fingers 332.

[0074] like Fig. 11C As can be seen in FIG. 3 , even though the finger 332 is statically coupled to the arm 320, the finger 332 is able to lift the deformable object 350 from the surface 352. The use of static fingers can reduce the complexity of the arm 320 and the finger 332, making the system 300 easier to clean than other systems with movable fingers (e.g., the system 200 with rotatable fingers 232). In some embodiments, a predetermined pressure within the fluid power system is selected so that the deformable object 350 is lifted from the surface 352, such as Fig. 11C 330, but the deformable object 350 does not contact any portion of the arm 320 other than the finger 332. In some embodiments, the finger 332 is coupled to the arm using fasteners (e.g., bolts, screws), quick release fasteners (e.g., pins), or any other coupling mechanism capable of retaining the finger 332 to the arm 320 while allowing the finger 332 to be removed from the arm 320 (e.g., for cleaning).

[0075] Fig. 12A and 12BA partial front view and a partial perspective view are depicted, respectively, of a system 400 comprising a static finger-like member having a flexible sheet material. The system 400 comprises arms 4201, 4202, 4203, 4204, 4205, 4206 (collectively referred to as arms 420) forming three pairs of opposing arms. In some embodiments, the system 400 further comprises a support structure (in Figures 12A to 12B 4304, 4305, 4306 (collectively, inclined surfaces 430). Inclined surfaces 430 are configured to contact the sides of the deformable object when the system 400 lifts the deformable object from a surface. Inclined surfaces 4301, 4302, 4303, 4304, 4305, 4306 are located on arms 4201, 4202, 4203, 4204, 4205, 4206, respectively.

[0076] System 400 also includes fingers 4321, 4322, 4323, 4324, 4325, 4326 (collectively, fingers 432). Fingers 4321, 4322, 4323, 4324, 4325, 4326 include inclined surfaces 4301, 4302, 4303, 4304, 4305, 4306, respectively. In some embodiments, fingers 4321, 4322, 4323, 4324, 4325, 4326 include rigid support fingers 4601, 4602, 4603, 4604, 4605, 4606 (collectively, rigid support 460) and flexible sheet materials 4621, 4622, 4623, 4624, 4625, 4626 (collectively, flexible sheet materials 462). In the depicted embodiment, the rigid support 460 is statically coupled to the distal end of the arm 420, and the flexible sheet material 462 is coupled to the rigid inclined surface of the rigid support 460. In the depicted embodiment, the flexible sheet materials 462 are arranged relative to the rigid support 460 such that a portion of each flexible sheet material 462 extends below the lower end of the rigid support 460. In the depicted embodiment, one surface of each flexible sheet material 462 abuts one of the rigid supports 460, and the inclined surface 430 is the surface of the flexible sheet material 462 opposite the surface abutting the rigid support 460.

[0077] Figures 13A to 13C An embodiment of a method of a system 400 for lifting a deformable object 450 from a surface 452 is depicted. Fig.13A In FIG. 4 , arm 420 is withdrawn from the side of deformable object 450. Fingers 432 are positioned so that rigid support 460 is slightly above surface 452, and the portion of flexible sheet material 462 that extends beyond rigid support 460 is in contact with surface 452. Fig. 13B In the embodiment, arms 420 have been closed until inclined surface 430 has contacted the right and left sides of deformable object 450. In some embodiments, system 400 includes a fluid dynamic actuator operably coupled in parallel to each pair of opposing arms via a fluid dynamic system, and arms 420 are closed via the fluid dynamic actuator increasing the pressure in the fluid dynamic system. Figures 13A to 13C Not shown, but each pair of opposing arms in system 400 is coupled in parallel to a fluid dynamic actuator so that each pair of arms can close a different distance until the inclined surfaces 430 are all in contact with the sides of the deformable object 450.

[0078] from Fig. 13B The situation shown to Fig. 13C In the case shown, the fluid power driver has increased the pressure in the fluid power system (e.g., to a predetermined pressure). Fig. 13B In the case shown, all of the inclined surfaces 430 are in contact with the deformable object 450, so the pressure in the fluid power system increases to Fig. 13C As shown, the arm 420 exerts a compressive force on the deformable object 450. The compressive force exerted by the arm 420 on the deformable object 450 causes the deformable object 450 to slide upward along the inclined surface 430 and lift the deformable object 450 off the surface 452. In some embodiments, the flexible sheet material can be formed of a material having relatively low friction, such as polyoxymethylene, polytetrafluoroethylene, or any other low friction material.

[0079] like Fig. 13C As can be seen in FIG. 4 , even though the finger 432 is statically coupled to the arm 420, the finger 432 is able to lift the deformable object 450 from the surface 452. The use of static fingers can reduce the complexity of the arm 320 and the finger 432, making the system 400 easier to clean than other systems with movable fingers (e.g., the system 200 with rotatable fingers 232). In some embodiments, a predetermined pressure within the fluid power system is selected so that the deformable object 450 is lifted from the surface 452, such as Fig. 13CAs shown, however, the deformable object 450 does not contact any portion of the arm 420 other than the fingers 432. In some embodiments, the fingers 432 are coupled to the arm 420 using fasteners (e.g., bolts, screws), quick release fasteners (e.g., pins), or any other coupling mechanism capable of retaining the fingers 432 to the arm 420 while allowing the fingers 432 to be removed from the arm 420 (e.g., for cleaning). In some embodiments, the flexible sheet material 462 is coupled to the rigid support 460 using fasteners (e.g., bolts, screws), quick release fasteners (e.g., pins), or any other coupling mechanism capable of retaining the flexible sheet material 462 to the rigid support 460 while allowing the flexible sheet material 462 to be removed from the rigid support 460 (e.g., for cleaning).

[0080] Figures 14A to 14E An embodiment of a method of using system 100 to lift and move a deformable object is depicted. More specifically, Figures 14A to 14E Each of the embodiments depicts a top view of an environment 500 showing one aspect of the method. The environment 500 includes two surfaces 5521 and 5522. In the depicted embodiment, the surface 5521 is a surface of a conveyor belt configured to convey a deformable object in a downstream direction 5541, and the surface 5522 is a surface of a conveyor belt configured to convey a deformable object in a downstream direction 5542. The environment 500 also includes a robotic arm 570. The system 100 is coupled to a distal end of the robotic arm 570. The robotic arm 570 is configured to move the system 100 to any position within a three-dimensional range and to orient the system 100. In the depicted embodiment, the base of the robotic arm 570 is located between the surfaces 5521 and 5522, so that the robotic arm 570 can position the system 100 at both the surfaces 5521 and 5522.

[0081] exist Figures 14A to 14C, the system 100 is depicted as having pairs of opposing arms 1261, 1262, 1263 (collectively referred to as pairs of opposing arms 126). Each pair of opposing arms 126 is intended to represent two arms 120 and components associated with the two arms. For example, the pair of opposing arms 1261 can represent the bracket 1141, the port 1161, the arms 1201 and 1202, the biasing mechanism 1221, the drive mechanism 1241, the inclined surfaces 1301 and 1302, and the fingers 1321 and 1322; the pair of opposing arms 1262 can represent the bracket 1142, the port 1162, the arms 1203 and 1204, the biasing mechanism 1222, the drive mechanism 1242, the inclined surfaces 1303 and 1304, and the fingers 1323 and 1324; and the pair of opposing arms 1263 can represent the bracket 1143, the port 1163, the arms 1205 and 1206, the biasing mechanism 1223, the drive mechanism 1243, the inclined surfaces 1305 and 1306, and the fingers 1325 and 1326. Furthermore, it will be appreciated that system 100 in environment 500 may be replaced by any other embodiment of a system suitable for lifting a deformable object from a surface, such as system 200 , system 300 , and system 400 .

[0082] exist Fig.14A In the illustrated case, deformable objects 5501, 5502, 5503, 5504 are located on a surface 5521, and deformable objects 5505, 5506, 5507, 5508 are located on a surface 5522. A conveyor including surface 5521 is moving deformable objects 5501, 5502, 5503, 5504 in a downstream direction 5541, and a conveyor including surface 5522 is moving deformable objects 5505, 5506, 5507, 5508 in a downstream direction 5542. In the depicted embodiment, the deformable objects 5501, 5502, 5503, 5504 are located on the surface 5521 in a somewhat random or haphazard arrangement. This may be the case where the deformable objects are pieces of raw meat that have been placed on a conveyor including surface 5521 as they are being cut without regard to the orientation and / or spacing between the deformable objects 5501, 5502, 5503, 5504. In contrast, the deformable objects 5505, 5506, 5507, 5508 are positioned on surface 5522 such that the deformable objects 5505, 5506, 5507, 5508 are substantially aligned with each other and have at least a minimum spacing between each other. In some embodiments, the robotic arm 570 may be configured (e.g., programmed, instructed, etc.) to move the deformable objects from surface 5521 to surface 5522 in order to convert the deformable objects from a random or haphazard arrangement to an aligned and / or singular arrangement.

[0083] exist Fig.14AIn the illustrated situation, the robotic arm 570 has positioned the support structure 110 of the system 100 over the deformable object 5504. The robotic arm 570 has also aligned the system 100 so that the inclined surfaces 130 of the pair of opposing arms 126 are substantially parallel to the longitudinal direction (e.g., the direction of the longest dimension) of the deformable object 5504. In some embodiments, the robotic arm 570 can position and orient the system 100 based on feedback from one or more sensors, such as cameras (visible light, infrared, ultraviolet, etc.), proximity detectors, lidar arrays, any other type of sensor, or any combination thereof. In some embodiments, one or more sensors can be positioned on the robotic arm 570 and / or the system 100. For example, the camera can be located on the support structure 110 and oriented downward from the expected location of the center of the deformable object. In some embodiments, one or more sensors can be positioned elsewhere within the environment 500, such as on a conveyor including a surface 5521 upstream of the robotic arm, on a structure of the environment (e.g., on a wall or ceiling), or anywhere else within the environment.

[0084] exist Fig.14A In the illustrated embodiment, the arms 120 of the pair of opposing arms 126 are withdrawn from the sides of the deformable object 5504, similar to Figure 3A and 3B From there, the fluid power driver 140 increases the pressure in the fluid power system 142 until the pressure at Fig. 14B In the case shown, the pressure reaches the predetermined pressure. Fig.14A The situation shown and Fig. 14B Between the conditions shown, each pair of opposing arms 126 closes a separate distance until all of the inclined surfaces 130 are in contact with the deformable object 5504, and then the arms 120 exert a compressive force on the deformable object 5504 to slide the deformable object 5504 upward along the inclined surfaces 130. In this way, Fig. 14B Prior to the situation shown, the system 100 has lifted the deformable object 5504 from the surface 5521, and the system 100 firmly holds the deformable object 5504.

[0085] from Fig. 14B In the illustrated embodiment, the robotic arm 570 can move the deformable object 5504 through the mobile system 100, wherein the deformable object 5504 is securely held in the system 100. Fig. 14C5504 is held securely therein. Fig.14D The position shown. The distance between the deformable object 5504 and the deformable object 5505 on the surface 5522 may be determined based on a desired distance (eg, a minimum distance) between the deformable object 5504 and the deformable object 5505 on the surface 5522. Fig.14D The positioning of the robot arm 570 to the system 100 can be determined based on the desired alignment and / or orientation of the deformable object on the surface 5522. Fig.14D The orientation of the robotic arm 570 to the system 100.

[0086] exist Fig.14D In the illustrated situation, the fluid dynamic actuator 140 continues to maintain the pressure in the fluid dynamic system 142 so that the system 100 maintains the deformable object 5504 above the surface 5522. From this situation, the fluid dynamic actuator 140 can reduce the pressure to the fluid dynamic system 142. The reduced pressure in the fluid dynamic system 142 can allow the biasing mechanism 122 to withdraw the arms 120 in the pair of opposing arms 126 from each other. Fig.14E As the pair of opposing arms 126 are withdrawn from each other, the deformable object 5504 will descend along the inclined surface 130 and then fall from the inclined surface 130 onto the surface 5522. In some embodiments, the robotic arm 570 is configured to position the system 100 relative to the surface 5522 so that the deformable object 5504 falls from the inclined surface 130 onto the surface 5522 without significantly damaging the deformable object 5504.

[0087] It will be noted that many variations of the environment 500 are possible. In some embodiments, the environment 500 can have any number of conveyor surfaces. In one example, the environment can have a single conveyor, wherein the robotic arm 570 uses the system 100 to reposition randomly placed deformable objects from the conveyor input end to a single and aligned orientation of deformable objects on the conveyor output end. In another example, the environment 500 can have a single input conveyor belt and multiple output conveyor belts, the input conveyor belt having randomly placed deformable objects, wherein the robotic arm 570 uses the system 100 to reposition randomly placed deformable objects from the input conveyor belt to one of the multiple output conveyor belts.

[0088] Fig.15An example embodiment of a system 610 is depicted that can be used to implement some or all of the embodiments described herein. In the depicted embodiment, system 610 includes computing devices 6201, 6202, 6203, and 6204 (collectively, computing devices 620). In the depicted embodiment, computing device 6201 is a tablet computer, computing device 6202 is a mobile phone, computing device 6203 is a desktop computer, and computing device 6204 is a laptop computer. In other embodiments, the computing device 620 includes 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, Play Station, Wii), a watch, a pair of glasses, a key chain, 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.

[0089] Computing devices 620 are communicatively coupled to each other via one or more networks 630 and 632. Each of networks 630 and 632 may include one or more wired or wireless networks (e.g., 3G network, Internet, internal network, private network, secure network). Computing devices 620 are capable of communicating with each other and / or with any other computing devices via one or more wired or wireless networks. Fig.15 The particular system 610 in FIG. 6 depicts computing devices 620 communicatively coupled via a network 630 as including four computing devices, but any number of computing devices may be communicatively coupled via the network 630 .

[0090] In the depicted embodiment, computing device 6203 is communicatively coupled to peripheral device 640 via network 632. In the depicted embodiment, peripheral device 640 is a scanner, such as a barcode scanner, an optical scanner, a computer vision device, etc. In some embodiments, network 632 is a wired network (e.g., a direct wired connection between peripheral device 640 and computing device 6203), 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 640 and a cradle of peripheral device 640 and a wired connection between peripheral device 640 and computing device 6203). In some embodiments, peripheral device 640 itself is a computing device (sometimes referred to as a "smart" device). In other embodiments, peripheral device 640 is not a computing device (sometimes referred to as a "non-smart" device).

[0091] Fig.16 Depicted in FIG. 7 is a block diagram of an embodiment of a computing device 700. Any computing device 620 and / or any other computing device described herein may include some or all of the components and features of computing device 700. In some embodiments, computing device 700 is 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, Play Station, Wii), a watch, a pair of glasses, a key chain, a radio frequency identification (RFID) tag, a headset, a scanner, a television, a dongle, a camera, a wristband, a wearable item, an information 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 used herein. In one embodiment, these functions, operations, and / or processes may be performed on data, content, information, and / or similar terms used herein.

[0092] In the depicted embodiment, computing device 700 includes processing element 705, memory 710, user interface 715, and communication interface 720. Processing element 705, memory 710, user interface 715, and communication interface 720 can communicate via communication bus 725 by reading data from and / or writing data to communication bus 725. Computing device 700 may include other components capable of communicating via communication bus 725. In other embodiments, the computing device does not include communication bus 725, and the components of computing device 700 can communicate with each other in some other manner.

[0093] The processing element 705 (also referred to as one or more processors, processing circuits and / or similar terms used herein) is capable of performing operations on some external data sources. For example, the processing element can perform operations on data in the memory 710, data received via the user interface 715, and / or data received via the communication interface 720. As will be understood, the processing element 705 can be implemented in many different ways. In some embodiments, the processing element 705 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 circuits or any combination thereof. The term "circuit" may refer to a complete hardware embodiment or a combination of hardware and computer program products. In some embodiments, the processing element 705 is configured for a specific purpose, or is configured to execute instructions stored in a volatile or non-volatile medium or accessible to the processing element 705. As such, whether configured by hardware or a computer program product, or a combination thereof, the processing element 705 is capable of performing steps or operations when configured accordingly.

[0094] The memory 710 in the computing device 700 is configured to store data, computer executable instructions, and / or any other information. In some embodiments, the memory 710 includes a volatile memory (also referred to as a volatile memory, a volatile medium, a volatile memory circuit, etc.), a non-volatile memory (also referred to as a non-volatile memory, a non-volatile medium, a non-volatile memory circuit, etc.), or some combination thereof.

[0095] In some embodiments, the volatile memory includes random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data 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.

[0096] In some embodiments, the non-volatile memory includes a hard disk, a floppy disk, a floppy 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), a rewritable compact disk (CD-RW), a digital versatile disk (DVD), a Blu-ray disc (BD), any other non-transitory optical medium, a read-only memory (ROM), a programmable read-only memory (PROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory (e.g., serial, NAND, NOR, and / or similar memory), 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-oxide-silicon memory (SONOS), a floating junction gate random access memory (FJG RAM), millipede memory, racetrack memory, any other memory that does not require power to store information, or any combination thereof.

[0097] In some embodiments, memory 710 is capable of storing one or more of a database, a database instance, a database management system, data, an application, a program, a program module, a script, a source code, an object code, a byte code, a compiled code, an interpreted code, a machine code, an executable instruction, 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.

[0098] The user interface 715 of the computing device 700 communicates with one or more input or output devices capable of receiving input from the computing device 700 and / or outputting any output. 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 keypad input, a peripheral device 640, 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 715 includes hardware configured to communicate with one or more input devices and / or output devices via a wired and / or wireless connection.

[0099] The communication interface 720 can communicate with various computing devices and / or networks. In some embodiments, the communication interface 720 can convey data, content, and / or any other information that can be sent, received, manipulated, processed, displayed, stored, etc. Communications via the communication interface 720 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, communications via the communication interface 720 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 (EETRA), 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.

[0100] As will be appreciated by those skilled in the art, one or more components of the computing device 700 may be remote from other components of the computing device 700, such as in a distributed system. Furthermore, one or more components may be combined, and additional components that perform the functions described herein may be included in the computing device 700. Thus, the computing device 700 may be adapted to accommodate a variety of needs and environments. The depicted and described architecture and description are provided for exemplary purposes only and are not limited to the various embodiments described herein.

[0101] The embodiments described herein may 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 medium includes all computer-readable media (including volatile and non-volatile media).

[0102] It should be understood that various embodiments of the embodiments described herein may also be implemented as methods, apparatuses, systems, computing devices, etc. Thus, 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 perform 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.

[0103] The embodiments described herein can be implemented with reference to block diagrams and flowchart illustrations. Therefore, it should be understood that the blocks of the block diagrams and flowchart illustrations can be implemented in the form of computer program products, in completely hardware embodiments, in a combination of hardware and computer program products, or in the equipment, system, computing device, 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 the execution code can be performed sequentially so that an instruction is retrieved, loaded, and executed at one time. In some exemplary embodiments, retrieval, loading, and / or execution can be performed in parallel so that multiple instructions are retrieved, loaded, and / or executed together. Therefore, such an embodiment can produce a specially configured machine that executes the steps or operations specified in the block diagrams and flowchart illustrations. Therefore, the block diagrams and flowchart illustrations support various combinations of embodiments for executing specified instructions, operations, or steps.

[0104] For purposes of this disclosure, terms such as "upper," "lower," "vertical," "horizontal," "inwardly," "outwardly," "interior," "exterior," "front," "rear," and the like should be interpreted as descriptive and not limiting the scope of the claimed subject matter. In addition, the use of "including," "comprising," or "having," and variations thereof, herein are intended 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.

[0105] The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, the aspects that the present disclosure is intended to protect 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, without departing from the spirit of the present disclosure, others may make modifications and changes, and may adopt equivalents. Therefore, it is clearly intended that all such changes, modifications, and equivalents fall within the spirit and scope of the present disclosure claimed for protection.

Claims

1. A system for lifting a deformable object from a surface, the system comprising: Support structure; a first arm, a second arm, a third arm, and a fourth arm coupled to the support structure, wherein the first arm and the second arm define a first pair of opposing arms and the third arm and the fourth arm define a second pair of opposing arms; a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface located on the first arm, the second arm, the third arm, and the fourth arm, respectively, wherein each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface is configured to contact a deformable object; and a fluid power drive operably coupled in parallel to the first pair of opposing arms and the second pair of opposing arms via a fluid power system; wherein, when the support structure is positioned over the deformable object on the surface, the fluid dynamic actuator is configured to increase the pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, so that: each of the first pair of opposing arms and the second pair of opposing arms independently closes a distance until the first inclined surface and the third inclined surface contact the first side of the deformable object, and the second inclined surface and the fourth inclined surface contact the second side of the deformable object, and the first pair of opposing arms and the second pair of opposing arms exert a compressive force on the deformable object, the compressive force causing the deformable object to slide upward along one or more of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface to lift the deformable object off the surface; Wherein, the first and second pairs of relative arm centers are aligned such that movement of the first arm toward or away from the second arm causes corresponding movement of the second arm toward or away from the first arm, and movement of the third arm toward or away from the fourth arm causes corresponding movement of the fourth arm toward or away from the third arm.

2. The system according to claim 1, further comprising: a first strap coupled between the first arm and the second arm; and a second strap coupled between the third arm and the fourth arm; Wherein the first and second belts are coupled to a fluid power system to cause corresponding movement of the first and second pairs of opposing arms.

3. The system according to claim 1, wherein: Each of the first, second, third and fourth inclined surfaces includes a flexible sheet material.

4. The system according to claim 3, wherein: The flexible sheet material of each of the first, second, third and fourth inclined surfaces is fixedly coupled to a rigid inclined surface on a distal end of each of the first, second, third and fourth arms.

5. The system according to claim 1, wherein: Each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface is a rigid surface.

6. The system of claim 1, wherein: The first arm, the second arm, the third arm, and the fourth arm include first, second, third, and fourth fingers rotatably coupled to distal ends of the first arm, the second arm, the third arm, and the fourth arm, respectively; and The first finger, the second finger, the third finger, and the fourth finger include a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface, respectively.

7. The system of claim 6, wherein: The first finger, the second finger, the third finger, and the fourth finger include a first lateral contact surface, a second lateral contact surface, a third lateral contact surface, and a fourth lateral contact surface, respectively; The first lateral contact surface and the third lateral contact surface are arranged to contact a first side of the deformable object; and The second and fourth lateral contact surfaces are arranged to contact a second side of the deformable object.

8. The system of claim 7, wherein: The first lateral contact surface, the second lateral contact surface, the third lateral contact surface and the fourth lateral contact surface are respectively at a fixed angle relative to the first inclined surface, the second inclined surface, the third inclined surface and the fourth inclined surface; the first finger, the second finger, the third finger, and the fourth finger being biased toward a lower rotational position; and When the first pair of opposing arms and the second pair of opposing arms apply a compressive force on the deformable object, contact between the first and third lateral contact surfaces and the first side of the deformable object and contact between the second and fourth lateral contact surfaces and the second side of the deformable object causes the first, second, third and fourth fingers to rotate toward a higher rotational position.

9. The system according to claim 8, wherein: Rotation of the first, second, third, and fourth fingers from the lower rotational position toward the higher rotational position causes the first, second, third, and fourth fingers to exert a lifting force on the deformable object.

10. The system according to claim 8, wherein: Each of the first, second, third, and fourth arms includes a biasing mechanism configured to bias the first, second, third, and fourth fingers to a lower rotational position.

11. The system according to claim 8, wherein: Each of the first finger-like member, the second finger-like member, the third finger-like member and the fourth finger-like member is removably connected to the distal end of the first arm, the second arm, the third arm and the fourth arm respectively via a pin, and wherein each of the first finger-like member, the second finger-like member, the third finger-like member and the fourth finger-like member is configured to rotate about the pin so as to rotate about a corresponding one of the first arm, the second arm, the third arm and the fourth arm.

12. The system of claim 1, further comprising: a fifth arm and a sixth arm coupled to the support structure, wherein the fifth arm and the sixth arm define a third pair of opposing arms; and a fifth inclined surface and a sixth inclined surface located on the fifth arm and the sixth arm, respectively, wherein each of the fifth inclined surface and the sixth inclined surface is configured to contact a deformable object; wherein the fluid power drive is operably coupled in parallel to the first, second and third pairs of opposing arms via the fluid power system; wherein, when the fluid power driver increases the pressure in the fluid power system until the pressure in the fluid power system reaches a predetermined level: The third pair of opposing arms are independently closed a distance until the fifth inclined surface contacts the first side of the deformable object and the sixth inclined surface contacts the second side of the deformable object, and The third pair of opposing arms applies a compressive force on the deformable object that causes the deformable object to slide upward along one or more of the fifth and sixth inclined surfaces to lift the deformable object off the surface.

13. The system of claim 12, wherein: The fifth and sixth arms include fifth and sixth fingers rotatably coupled to distal ends of the fifth and sixth arms, respectively; and The fifth and sixth fingers include fifth and sixth inclined surfaces, respectively.

14. The system of claim 13, wherein: The fifth and sixth fingers include a fifth and a sixth lateral contact surface, respectively; The fifth lateral contact surface is arranged to contact the first side of the deformable object; and The sixth lateral contact surface is arranged to contact a second side of the deformable object.

15. The system of claim 14, wherein: The fifth lateral contact surface and the sixth lateral contact surface are respectively at a fixed angle relative to the fifth inclined surface and the sixth inclined surface; the fifth and sixth fingers being biased toward a lower rotational position; and When the third pair of opposing arms applies a compressive force on the deformable object, contact between the fifth lateral contact surface and the first side of the deformable object and contact between the sixth lateral contact surface and the second side of the deformable object causes the fifth and sixth fingers to rotate toward a higher rotational position.

16. The system of claim 15, wherein: Rotation of the fifth and sixth fingers from the lower rotational position toward the higher rotational position causes the fifth and sixth fingers to exert a lifting force on the deformable object.

17. The system of claim 1, wherein: The fluid power actuator is a pneumatic cylinder and the fluid power system is a gas power system.

18. A system for lifting a deformable object from a surface, the system comprising: Support structure; a first arm structure and a second arm structure; a plurality of first inclined surfaces coupled to the first arm structure, wherein the first inclined surface of the plurality of first inclined surfaces is configured to contact a first side of the deformable object; a plurality of second inclined surfaces coupled to the second arm structure, wherein the second inclined surface of the plurality of second inclined surfaces is configured to contact a second side of the deformable object; and a fluid power drive operably coupled in parallel to the plurality of first inclined surfaces and the plurality of second inclined surfaces via a fluid power system; wherein, when the support structure is positioned above the deformable object on the surface, the fluid dynamic drive is configured to increase the pressure in the fluid dynamic system until the pressure in the fluid dynamic system reaches a predetermined level, so that: each of the plurality of first inclined surfaces independently moves a distance until a first inclined surface of the plurality of first inclined surfaces contacts a first side of the deformable object, and a second inclined surface of the plurality of second inclined surfaces independently moves a distance until a second inclined surface of the plurality of second inclined surfaces contacts a second side of the deformable object, and The plurality of first inclined surfaces and the plurality of second inclined surfaces exert a compressive force on the deformable object that causes the deformable object to slide upward along one or more of the first and second inclined surfaces to lift the deformable object off a surface.

19. A method of lifting a deformable object from a surface, the method comprising: Positioning a support structure and a deformable object relative to each other such that the support structure is above the deformable object, wherein the support structure is coupled to: a first arm, a second arm, a third arm, and a fourth arm, wherein the first arm and the second arm define a first pair of opposing arms and the third arm and the fourth arm define a second pair of opposing arms, a first inclined surface, a second inclined surface, a third inclined surface, and a fourth inclined surface located on the first arm, the second arm, the third arm, and the fourth arm, respectively, wherein each of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface is configured to contact the deformable object, and a fluid power drive operably coupled in parallel to the first pair of opposing arms and the second pair of opposing arms via a fluid power system; When the support structure is positioned above the deformable object on the surface, the pressure in the fluid dynamic system is increased by the fluid dynamic drive until the pressure in the fluid dynamic system reaches a predetermined level, so that: Each of the first pair of opposing arms and the second pair of opposing arms is independently closed a distance until the first inclined surface and the third inclined surface are in contact with the first side of the deformable object and the second inclined surface and the fourth inclined surface are in contact with the second side of the deformable object, and the first pair of opposing arms and the second pair of opposing arms exert a compressive force on the deformable object, the compressive force causing the deformable object to slide upward along one or more of the first inclined surface, the second inclined surface, the third inclined surface, and the fourth inclined surface to lift the deformable object off a surface; Wherein, the first and second pairs of relative arm centers are aligned such that movement of the first arm toward or away from the second arm causes movement of the second arm toward or away from the first arm, and corresponding movement of the third arm toward or away from the fourth arm causes corresponding movement of the fourth arm toward or away from the third arm.

Images