End effector device and system for grasping bagged objects based on suction force

Abstract

This invention relates to an end effector device and system for suction-based gripping of bagged objects, which may include a body structure having a vacuum line opening and an object engagement region, the vacuum line opening being configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure; the body structure includes an internal structure defining a concave inner cavity having a cavity opening at the object engagement region; and the internal structure includes an array of inlet holes positioned along at least one wall of the concave inner cavity, wherein each inlet hole defines an opening in the body leading to the defined internal channel. The body structure may further include a suction cup system including a flexible sealing lip at the object engagement region; wherein the cavity opening is positioned within the gripping region of the sealing lip.

Description

[0001] Cross-reference to related applications

[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 003,728, filed April 1, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates generally to the field of pick-and-place end effectors, and more specifically to a novel and useful end effector device and system for gripping bagged objects based on suction. Background Technology

[0004] Pick-and-place devices frequently use suction cup end effectors to pick up objects. Suction cup end effectors are used in conjunction with controlled pressure vacuum systems to establish a pressure-based seal when gripping and manipulating an object. A common type of end effector is a suction cup device made of flexible material with a series of bellows attached to the engaging side of the end effector. While these end effectors are useful for certain materials, such as rigid objects with flat surfaces, they are not effective for all types of objects and have a lower probability of successfully gripping items encased in deformable films such as plastic or silicone bags.

[0005] Gripping and manipulating bagged goods is a common target. With the rise of e-commerce, the demand for automation involving bagged goods is constantly increasing. However, there are many problems with using suction cup end effectors to grip bagged items. One major challenge is that the loose bag film can slip or roll when the object is gripped. This can break the pressure-based seal used to hold the item, causing it to fall. Material rolling can be a major problem, especially when the bagged object is held at an angle to gravity. The weight of the object exerts a pulling force on the bag, causing it to roll and peel off the surface of the suction cup, thus breaking the seal.

[0006] In addition, many suction cup designs feature thin, flexible flanges that must typically deform to conform to flexible surfaces, such as bags. However, these thin, flexible materials are prone to breakage and have a limited lifespan.

[0007] Alternative end effectors, such as actuated grippers, can be used, but they require additional mechanisms and present other challenges when dealing with bagged objects.

[0008] Handling bagged items presents a greater challenge when pick-and-place equipment must deal with multiple types of packaged items, such as bagged and boxed items.

[0009] Therefore, there is a need in the field of pick-and-place end effectors to create a novel and useful end effector device and system for gripping bagged objects based on suction. This invention provides such a novel and useful system and method. Attached Figure Description

[0010] Figure 1A-1F This is a side cross-sectional schematic diagram of an exemplary variant of an end effector having a concave inner cavity.

[0011] Figure 2A and 2B This is a side cross-sectional schematic diagram of the interaction between the bag and the end effector.

[0012] Figure 3A and 3B Is with Figure 3A Bagged objects and Figure 3B A side cross-sectional schematic diagram of the interaction between a hybrid end effector variant joined to a solid object and a bag.

[0013] Figures 4A-4C This is a schematic diagram of an exemplary sequence in which the end effector grabs the bag and holds it in different orientations.

[0014] Figure 5 This is a detailed side cross-sectional view of a variant of an end effector with a concave inner chamber.

[0015] Figure 6 This is a detailed side cross-sectional view of an alternative end effector variant with a solid body and inlet holes on different walls.

[0016] Figure 7 This is a side cross-sectional schematic diagram of a variant of an end effector having an inlet hole along the inner surface of its internal structure.

[0017] Figure 8 This is a side cross-sectional schematic diagram showing the characteristics of an end effector, which is a variant of an end effector with a lip-shaped structure.

[0018] Figure 9 This is a side cross-sectional schematic diagram of a variant of an end effector with internal lip features.

[0019] Figure 10A This is a side cross-sectional schematic diagram of a variant of an end effector with a lip-shaped part.

[0020] Figure 10B This is a horizontal cross-sectional schematic diagram showing the inlet hole pattern on the lip of a variant of the end effector.

[0021] Figure 11A and 11BThese are schematic side cross-sectional views of two different variations, in which the inner chamber includes an inner wall with a patterned surface.

[0022] Figure 12 This is a side cross-sectional schematic diagram of a variant of an end effector with a downwardly projecting structural feature.

[0023] Figure 13A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with a sealing lip.

[0024] Figure 13B This is a schematic diagram of a horizontal cross-section showing the sealing lip extending outward from the chamber opening.

[0025] Figure 14A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with a sealing lip and a bellows.

[0026] Figure 14B This is a schematic diagram of a horizontal cross-section showing the sealing lip extending outward from the chamber opening.

[0027] Figure 15A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with a transition air passage.

[0028] Figure 15B This is a schematic horizontal cross-sectional view showing an exemplary pattern of the transition air passage.

[0029] Figure 16A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with the inlet orifice on different walls of the internal structure.

[0030] Figure 16B This is a schematic diagram of the horizontal cross-section of a hybrid end effector with the inlet hole on different walls of the internal structure.

[0031] Figure 17A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with an enlarged concave inner chamber.

[0032] Figure 17B This is a schematic diagram of a horizontal cross-section of a hybrid end effector with an enlarged concave inner chamber.

[0033] Figure 18A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with a lip-shaped structure.

[0034] Figure 18B This is a schematic diagram of a horizontal cross-section of a hybrid end effector with a lip-shaped structure.

[0035] Figure 19 This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with structural features within an internal chamber.

[0036] Figure 20A This is a side cross-sectional schematic diagram of a variant of a hybrid end effector with a rigid shield.

[0037] Figure 20B This is a schematic diagram of a horizontal cross-section of a hybrid end effector with a rigid shield.

[0038] Figure 21A and 21B It is a side view cross-sectional diagram with exemplary dimensional terminology.

[0039] Figure 22A This is a side cross-sectional schematic diagram of a variant of an end effector having a lip-shaped portion on a limited portion of the chamber opening.

[0040] Figure 22B This is a horizontal cross-sectional schematic diagram showing an inlet hole pattern on a modified lip portion having a lip portion on a limited portion of the chamber opening.

[0041] Figure 23 and 24 This is a side cross-sectional schematic diagram of an exemplary variant of an end effector.

[0042] Figure 25A and 25B This is a side view cross-sectional diagram of the active control inlet port that is activated at different gripping stages.

[0043] Figure 26 This is a side view cross-sectional diagram of a multi-channel variant of the end effector.

[0044] Figure 27 This is a side view cross-sectional diagram of a multi-chamber variant of the end effector.

[0045] Figure 28 This is a cross-sectional schematic diagram of a hybrid variant of the end effector, showing details of the internal structure of the insertion suction cup system.

[0046] Figure 29 This is a cross-sectional schematic diagram of a multi-head end effector system with a bag-gripping end effector and a suction cup end effector.

[0047] Figure 30 This is a cross-sectional schematic diagram of a multi-head end effector system with two types of bag-holding end effectors. Detailed Implementation

[0048] The following description of embodiments of the present invention is not intended to limit the invention to these embodiments, but rather to enable those skilled in the art to make and use the invention.

[0049] 1. Overview

[0050] The function of end effector devices and systems for suction-based gripping of bagged objects is to utilize an internal restorative volume formed by a concave inner chamber. The restorative volume engages with the bagged goods by pulling a portion of the bag material into the volume used for pressure gripping.

[0051] This end effector can be used with a variety of object types, but it can offer enhanced performance for bagged objects and / or other objects with flexible, membrane-like gripping surfaces. In some variations, the end effector can be a high-performance end effector across multiple item types. For example, a hybrid end effector variant integrating a suction cup-type flexible sealing lip can be used to grip boxed / solid items and bagged items, engaging naturally with the item in a manner appropriate to its type.

[0052] In this article, “bagged object” refers to a general type of object that is clamped and manipulated, but any suitable type of object may be used additionally or alternatively with an end effector.

[0053] like Figure 1A-1F An exemplary variant of the system shows that the end effector may utilize a rigid (or at least semi-rigid) structure that forms a defined concave inner chamber with at least one set of inlet orifices recessed from the inner chamber opening.

[0054] like Figure 1A and 1B As shown in the exemplary variant, the array of inlet holes can be positioned in various locations to increase the ways in which bagged items are pulled and gripped within the inner chamber.

[0055] like Figure 1C and 1D As shown in the exemplary variant, the hybrid variant can integrate a suction cup system. In the hybrid variant, the end effector device and system for suction-based gripping can include a surrounding flexible sealing lip that allows the end effector device to act as a suction cup end effector against a suitable object, such as a box or an item with a hard surface (or a tightly bagged item), but the bagged item is gripped through interaction with a concave cavity.

[0056] In some variations designed to further enhance bag grip, for example in Figure 1E and 1FIn the variations shown, the end effector device and system for suction-based gripping can employ a multi-directional array of inlet holes in different orientations and structural variations in the surface of the inner chamber. In some such variations, the concave chamber can further be an enlarged concave chamber with a lip. The position of the inlet holes and / or the different directions of pressure can improve the end effector's grip on the bag and its ability to manipulate bagged goods without deforming the bag or breaking the vacuum seal.

[0057] The various end effector design features described in this article can be combined into various combinations, for example in Figure 1A-1F As shown in the example. For example, a hybrid end effector may include a concave inner chamber having an array of inlet holes with different orientations and structural features, such as Figure 1F The structural chamber opening lip and suction cup system are shown. This enables the hybrid end effector to have enhanced bag gripping and manipulation capabilities. Other suitable feature combinations can be used alternatively.

[0058] The end effector is preferably coupled to a vacuum system and attached to a robot actuation system. This end effector design can also be incorporated into a multi-head end effector, in which one or more instances of the system can be used in conjunction with other types of end effectors.

[0059] This end effector is preferably used as a pick-and-place robotic system, or any suitable object manipulation system for manipulating bagged goods and possibly other suitable goods. However, the end effector can alternatively be used with any suitable system designed to grasp objects, particularly bagged objects. For example, the end effector can also be useful in object manipulation machines used in manufacturing, assembly, food preparation, food packaging, medical fitting, medical processing, and / or object handling systems.

[0060] End effectors and systems for suction-based gripping can employ a variety of design features that enable improved gripping capabilities.

[0061] As an inherent principle, the inner chamber provides a recovery volume into which a portion of the bag is pulled. The flexible material of the bagged item is drawn into the concave inner chamber upon engagement with the system, thus providing better grip.

[0062] As another underlying principle, the chamber increases the surface area of ​​the bagged material to which suction can be applied through the inlet opening. By varying the shape and / or depth / size of the concave inner chamber, different chamber designs can be used to achieve different gripping capabilities on flexible materials. These can vary depending on the target type of the material being gripped, the diversity of the material / item being gripped, the type of item manipulation, and / or other performance characteristics.

[0063] As another principle, the end effector can diversify the direction of suction. The inlet orifice can be positioned along different defined planes on the concave inner chamber. In some cases, the inlet orifice of the concave inner chamber can be positioned such that the direction of suction is opposite to that at the chamber opening, to increase the friction between the membrane and the end effector chamber opening. When combined with structural features that prevent or inhibit material peeling or slippage, this enables a more secure grip on bagged goods.

[0064] The end effector can function partially by utilizing a rigid (or semi-rigid) structure with a set of inlet holes recessed from the inner chamber opening. Thus, when a bagged item engages with the end effector, the bag material is drawn into the structure of the inner chamber, thereby entering the body of the end effector. As an exemplary description of the sequence of gripping interactions, the end effector can operate in a form where, when depressurized, the bag is initially drawn into the inner chamber through the chamber opening, as... Figure 2A As shown. The bag material is pulled upwards towards the top wall of the chamber. The bag material is typically pulled into each or at least one of these inlet holes, thus creating a... Figure 2B The seal shown. As the bag is pulled into the recovery volume of the concave inner chamber, the pressure seal with the bag can be more flexible.

[0065] In a hybrid variant, the end effector naturally grasps the object based on its surface properties. For example... Figure 3A As shown, a bagged object will cause the bag to be gripped as described above. However, as Figure 3B As shown, the boxed object (or other suitable object of other types) will engage with and be gripped by the suction cup system of the end effector.

[0066] exist Figures 4A-4C In the exemplary system variant shown, the end effector may include additional inlet openings and structural features to further enhance the manner in which the bag is pulled into the chamber structure and grasped. Through the design of the concave chamber profile and / or other structural features, the body of the end effector can mitigate bag slippage or material rollover. Figure 4A As shown, when depressurized, the bag is initially drawn into the inner chamber through the chamber opening. During this phase, the friction between the bag film and the inlet port of the end effector can be low, allowing the bag film to rapidly enter the inner chamber of the end effector. The arrangement of the inlet ports can be configured such that the bag material is drawn upwards towards the top wall of the chamber, and then the bag material is subsequently drawn towards these inlet ports along the sides of the chamber and optionally the bottom edge of the chamber (possibly on a lip structure), as... Figure 4BAs shown. Bag material is typically drawn into each or at least one of these inlet holes to establish a seal, as flow toward one inlet hole is blocked by the membrane, while flow toward the other inlet holes continues. Due to the closed shape of the end effector chamber (defined by a central cavity), the bag membrane wraps around the inlet edge of the end effector, forming a high-friction contact between the bag membrane and the end effector. The arrangement of the inlet holes can include a configuration that facilitates a desired engagement sequence with the bag membrane during the initial clamping of the object. As an inherent benefit of this type of end effector feature, when the end effector is manipulated (e.g., rotated, twisted, or turned in space), the edges of the chamber openings, and optionally other structural edges, reduce the chance of slippage and bag rollover, such as... Figure 4C As shown.

[0067] This system can offer many potential benefits. The system is not limited to always providing such benefits; these are presented merely as illustrative examples of how the system can be used. The list of benefits is not intended to be exhaustive, and other benefits may exist additionally or alternatively.

[0068] As a potential benefit, this end effector device and system can enhance the machine's ability to grip bagged objects. In particular, the end effector device and system can enhance the machine's ability to grasp very heavy or relatively heavy bagged objects, as well as objects wrapped in loose film. For example, the end effector can reliably grasp loosely bagged items, such as a coffee cup inside a 12”×12” plastic bag.

[0069] As another potential benefit, in some variations, the end effector device and system can be configured to operate as a hybrid end effector, capable of grasping non-bagged objects, such as boxes, as well as bagged objects. In some variations, the end effector device and system include design features such that the interaction is such that when a grasping action is performed, the interaction between the end effector and the object naturally adapts to grasp the object in an appropriate pattern. For example, boxed items and / or stretched bagged items will naturally engage with external suction cup elements, while bagged items with a loose film will allow the bag material to be naturally pulled into the restored volume. By selectively engaging with objects based on their physical surface properties, this allows the pick-and-place robotic system to manipulate objects without heterogeneous classification.

[0070] As another related potential benefit, in addition to enhanced gripping, this end effector device and system enables machines to better manipulate bagged objects. Due to the lower rate of gripping failures at different angles, the machine can manipulate bagged goods in a variety of ways. The increased range of manipulation, combined with fewer gripping failures, improves the efficiency of the automation system. For example, the end effector can not only be used to grip the object and translate it from one position to another, but can also optionally be used to reorient the object.

[0071] As another potential benefit, the end effector can have a long service life. Some variations of the end effector can be made of rigid or semi-rigid materials that are resistant to failure. In addition, some end effector variations can be made of a single part and / or have no moving parts, thereby increasing the robustness of the device.

[0072] As another potential benefit, this end effector can function as a passive element that utilizes its physical design to better grasp objects. As a passive device, this end effector will not require additional actuators, sensors, and / or control systems, unlike some grasping end effector solutions.

[0073] 2. Details of the end effector

[0074] like Figure 1A As shown, an end effector for suction-based gripping of bagged objects may include a body structure 110 having a defined concave inner chamber 120 including an array of inlet holes 130. The body structure 110 may include a defined internal channel 140 connecting a vacuum line interface 150 to the array of inlet holes 130. This end effector can be used with bagged items, wherein the bagged item can be gripped by pulling bag material into the concave inner chamber 120, which serves to establish a more resilient grip on the bagged item.

[0075] The end effector is preferably used in conjunction with a vacuum pressure system 170, which can be used in conjunction with a pick-and-place robot system or any suitable automation system. A system variant may include one or more instances of the end effector, the vacuum pressure system, and / or the pick-and-place robot system. The vacuum pressure system 170, and more specifically, the pressure line connected to the vacuum pressure pump, is connected to the end effector, wherein the pressure line, the internal channel 140, and the array of inlet orifices form a fluid communication path for gas and / or liquid.

[0076] Variations of the end effector system can combine various features and variations as described in this article. Figure 1A-1FThese are exemplary representations of variations of end effectors, but as those skilled in the art will understand, end effectors are not limited to these exemplary representations. For example, an end effector may combine one or more variations described herein.

[0077] As described herein, unless otherwise stated, end effectors are most generally described and characterized as having a generally horizontally symmetrical and generally rounded (circular) or circular profile. However, as those skilled in the art will understand, end effectors and their variations are not limited to such symmetrical or rounded forms and may be asymmetrical and have other shape profiles.

[0078] In a variant of the end effector, for example in Figure 1A-1F In the illustrated variant, the end effector includes at least a semi-rigid body structure 110; wherein the body structure includes a defined concave inner chamber 120 having a chamber opening on the object engagement side of the end effector; within the inner chamber, the body includes an array of inlet holes 130 defining channel openings in the walls of the body structure 110. The defined concave inner chamber 120 is recessed beyond the chamber opening, which causes bag material to be drawn into the inner chamber 120, thereby enabling better gripping of bagged objects. In some variants, the body structure also includes a defined internal channel 140 connected to the array of inlet holes 130; and the body structure 110 also includes a vacuum line interface 150 defining an opening to the defined internal channel 140.

[0079] The object engagement area is preferably one or more faces or surfaces on the main structure 110 in which the object is engaged. The object engagement area may be a generally planar region. However, this area can conform to any suitable shape or form. The object engagement area will typically be located on the side opposite the vacuum line opening and its corresponding vacuum line interface 150 (i.e., the object engagement side). However, the vacuum line interface and the object engagement area can have any suitable relative position. For example, some variations may have a 45° or 90° angle between the vacuum line interface and the object engagement area.

[0080] As described herein, the end effector can be implemented in various arrangements of concave inner chambers 120 of various shapes, inlet holes 130, optionally including structural lips or other structural features of the concave inner chambers 120, including suction cup system 160 and / or other variations.

[0081] like Figure 3A and 3BA variant of the end effector including the lip portion shown can be more specifically and alternatively described as including a body structure 110 having a vacuum line interface 150 and an object engagement region, the vacuum line interface 150 being configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel 140 of the body structure; the body structure 110 including a defined concave inner chamber 120 having a chamber opening in the object engagement region; a lip portion 121 extending from the body structure 120 and at least partially defining a chamber opening leading to the inner chamber 120; an array of inlet holes 130 positioned along the wall of the inner chamber 120 and the inner wall 124 of the lip portion, wherein each inlet hole defines an opening in the body structure 110 leading to the defined internal channel 140.

[0082] As a first set of variations, the end effector can employ various arrangements of inlet holes 130 within the concave internal chamber 120. The array of inlet holes can include at least one subgroup of inlet holes 1301 positioned along a wall of the internal structure opposite to the defined chamber opening (e.g., the wall opposite the chamber opening), such as... Figure 5 As shown, the subgroup of inlet hole 1301 may alternatively or additionally be provided along the sidewall, lower wall and / or structural features of the concave inner cavity.

[0083] The array of inlet holes may include inlet holes arranged in various orientations along different walls or structures defining the internal structure of a concave inner cavity. Accordingly, the array of inlet holes may include at least one second subgroup of inlet holes along a second wall of the concave inner cavity, wherein the second subgroup of inlet holes is defined in an orientation different from that of the first subgroup of inlet holes. (As in...) Figure 6 As shown in the example, the first set of inlet holes can be arranged along the top wall, and the second set of inlet holes can be arranged along the side wall.

[0084] As another variant, the end effector can incorporate an enlarged concave inner chamber 120 to increase the recovery volume for gripping bagged objects. The enlarged concave inner chamber is an inner chamber with a width greater than the width of the chamber opening. In the variant with the enlarged inner chamber 120, the inner chamber's internal width, greater than the chamber opening, facilitates the pulling of bag material into the inner chamber 120, where the chamber opening establishes a rigid barrier, thereby creating a fold in the bag material. This mitigates slippage and bag rollover, resulting in better gripping of the bagged object. In a concave inner chamber with a circular cross-section, this means that the concave inner chamber has a cross-section with a diameter greater than the diameter of the chamber opening. However, the inner chamber and / or chamber opening are not limited to a circular form. Thus, the enlarged concave inner chamber 120 can be any chamber whose profile recedes beyond the chamber opening in at least one region (e.g., is concave in the horizontal dimension).

[0085] As another possible variation, the enlarged inner chamber can incorporate a lip structure 121 that extends inward from the main structure 110 on the object engagement side to at least partially define the chamber opening, such as... Figure 8 As shown. In some variations, the lip structure 121 extends inward from the main structure to define a rounded chamber opening. Alternatively, the lip structure 121 can form the outline of any suitable shape of the chamber opening. Multiple lip structures may additionally be present, such as an outer lip portion 1211 and an inner lip portion 1212, as... Figure 9 As shown.

[0086] As another possible variation, a subgroup of inlet holes 130 can be positioned on the lip structure 121 and open in a direction away from the chamber opening, as shown in FIG10. In one example, the array of inlet holes 130 can have at least one first subgroup of inlet holes 1301 opening in the direction of the chamber opening, and a second subgroup of inlet holes 1302 (e.g., inlet holes on the lip structure) opening in a direction away from the chamber opening, as shown in FIG10. In a variation including the lip structure 121, the subgroup of inlet holes 130 can be positioned on the lip structure 121, more specifically on the inner wall of the lip portion, wherein the inlet holes 130 open in a direction away from the chamber opening. The multidirectional positioning of the inlet holes in the inner chamber, combined with the inwardly extending lip portion, creates a volume with multidirectional pressure, which can hold the bag more securely. The physical form of the body structure 110 can synergistically enhance the grip on objects and reduce the chance of bag-specific grip failures.

[0087] As another possible variation, the internal structure defining the concave inner chamber 120 may include one or more structural features (e.g., lip-shaped protrusions, grooves, etc.). Figure 11A and 11B In the example, the serrated structural features can be patterned on the sidewalls of the internal structure defining the concave inner cavity 120. Figure 12 In one example, the structural feature may include a surface projecting from the top wall of the internal structure defining the concave inner chamber 120. In such a variation, a subgroup of inlet orifices may be located on one or more structural features.

[0088] As a possible variation, end effector features such as those described herein can be incorporated into an end effector having an enlarged concave inner chamber 120, and an end effector having a body structure 110 defining an outer surface. In such variations, the end effector can be a fully rigid (or semi-rigid) structure, which can be made from a single component, or alternatively from multiple component parts attached to form the structure of the end effector. In some variations, this variation can be manufactured using additive manufacturing (e.g., 3D printing) or other manufacturing techniques. In other variations, multiple component parts can be manufactured, attached, and assembled to form a single solid component. This variation can be used as an end effector focused on a bag.

[0089] In this bag-focused variant, the end effector may include at least a semi-rigid body structure 110; wherein the body structure forms the outer surface of the end effector and includes a defined concave inner chamber 120 having a chamber opening on the object engagement side of the end effector, and wherein the inner chamber 120 has an internal width greater than the chamber opening; within the inner chamber, the body includes an array of inlet holes defining a channel opening in the walls of the body structure; the body structure also includes a defined internal channel connected to the array of inlet holes; and the body structure also includes a vacuum line interface defining an opening leading to the defined internal channel.

[0090] As another possible variation, the end effector may include a body structure 110 that includes or is connected to a suction cup system 160, which is combined with an internal structure defining a concave inner chamber 120, as shown in the example in Figures 13-17. This type of variation, or hybrid end effector variation, can function as either a suction cup-based end effector or a bag-focused end effector. In the hybrid variation with integrated suction cups, a boxed object (or other object with a surface suitable for suction cup gripping, such as loosely packaged items) can be naturally gripped by establishing a vacuum seal between the suction cup system 160 and the object surface; and a bagged object will naturally draw bag material into the inner chamber 120 for gripping. The hybrid end effector variation may optionally include one or more of the features described herein.

[0091] Thus, a hybrid end effector for a pick-and-place system may include: a body structure 110 having a vacuum line opening and an object engagement region, the vacuum line interface 150 (e.g., an opening) configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure 110; the body structure 110 includes a suction cup system 160 including a flexible sealing lip 161 in the object engagement region; the body structure 110 also includes an internal structure 112 defining a concave internal chamber 120 having a chamber opening in the object engagement region, the chamber opening being located within the gripping region of the sealing lip 161; and the internal structure 112 includes an array of inlet holes 130 positioned along at least one wall of the concave internal chamber 120, wherein each inlet hole defines an opening in the body leading to the defined internal channel.

[0092] In some variations, such end effector variations may include a suction cup system forming the outer surface of the end effector (e.g., the outer surface of the body structure 110); and a separate rigid internal structure inserted into an opening in the suction cup system 160. The suction cup system 160 may be made of a flexible material, while the internal structure 112 may be made of a rigid (or semi-rigid) material. The rigid internal structure may be fitted and / or attached to the inside of the suction cup system. The rigid internal structure 112 may define a concave inner cavity 120 having a chamber opening on the object engagement side of the end effector. As in other variations, within the inner cavity 120, the internal structure 112 may include an array of inlet holes 130 that define channel openings in the walls of the internal structure 112.

[0093] The sealing lip 162 preferably surrounds the chamber opening and extends outward from the chamber opening. The suction cup system 160 of the main structure 110 may additionally include a bellows 162 that surrounds the internal structure 112 and forms the outer surface of the end effector, as shown in FIG14. The bellows 162 may be connected to the sealing lip 161.

[0094] In some hybrid variations, such as those illustrated in Figures 13-14, the inlet aperture array may include a first subgroup of inlet apertures positioned along the wall of the internal structure opposite the defined chamber opening. In other words, at least one subgroup of inlet apertures may be along the top wall.

[0095] In some hybrid variations, such as the one shown in Figure 16, the array of inlet holes may additionally include at least one second subgroup of inlet holes along the second wall of the concave inner cavity. The second subgroup of inlet holes may be defined in an orientation different from that of the first subgroup of inlet holes. In such variations, the inlet holes may be defined along different walls having defining tangents along non-parallel planes. As shown in the example of Figure 16, the inlet holes may be positioned along the top and side walls of the concave inner cavity.

[0096] In some hybrid variations, such as the one shown in Figure 17, some inlet holes 130 may be oriented in opposite directions. The inlet holes 130 may be oriented in directly opposite directions (where the inlet holes are defined by vectors along opposite directions), but the inlet holes 130 may alternatively be oriented in indirectly opposite directions (where the orientation vectors of the two inlet holes have longitudinal components in opposite directions).

[0097] In some hybrid variations, such as the one shown in FIG18, the internal structure may form an enlarged concave inner cavity 120 having a width greater than the width of the cavity opening. In some such variations, the internal structure (or other suitable component of the end effector) may include a lip structure 121 that at least partially defines the cavity opening.

[0098] Additionally, in some hybrid variations, such as the variation shown in Figure 17, the first subgroup of the inlet orifice 130 can open in the direction of the chamber opening (i.e., defined as having a certain orientation), and the second subgroup of the inlet orifice is positioned on the lip structure and opens in a direction away from the chamber opening (i.e., in the opposite direction).

[0099] In some hybrid variants, for example Figure 19 In the variant shown, the internal structure 112 defining the concave inner cavity 120 may include one or more structural features (e.g., lip protrusions, grooves, etc.).

[0100] In some hybrid variants, such as those shown in Figures 15-18, the end effector includes a transition air passage 125 between the chamber opening and the suction cup 160. Each transition air passage 125 may extend outward from the inner edge of the chamber toward the outer edge of the sealing lip 161. This serves to provide a fluid passage to improve hybrid operation in either suction cup gripping mode or bagged object gripping mode. Other structural arrangements may be used to establish the transition air passages. In a preferred embodiment, the internal structure includes a set of flanges extending outward from the chamber opening, thereby forming a set of transition air passages when inserted into the central opening of the suction cup system. This set of flanges preferably extends in a direction that is at least partially horizontal and preferably conforms to the bevel and surface of the sealing lip 161. Alternatively, the transition air passage may be defined by the form of the inner surface of the sealing lip 161.

[0101] In some hybrid variants, such as the variant shown in FIG20, the end effector including the suction cup system 160 with bellows 162 may include a rigid shield 180 surrounding the bellows.

[0102] The following describes in detail the various components, features, and variations of end effectors and / or end effector systems.

[0103] The body 110 of the end effector serves as a structural unit with various channel features to realize the end effector described herein. The body 110 may be made of multiple component parts that are assembled or otherwise connected to form the end effector. Alternatively, the body 110 may be made of a single-piece structure.

[0104] As mentioned above, and for example in Figure 5-12 As shown in the examples, the body 110 may be a rigid or semi-rigid component that forms at least a portion of the outer surface and defines the internal structure of the concave inner cavity 120. In other variations, and as shown in examples such as Figures 13-21, the body 110 may include or integrate a suction cup system 160 and a rigid or semi-rigid internal structural component. In some hybrid variations, the outer surface may be at least partially formed by the suction cup system, as shown, for example, in Figures 16-19.

[0105] The body 110 preferably includes an internal structure 112 that defines a concave internal cavity 120 and its features as described below. The internal structure may simply be a sub-segment of a rigid element (e.g., as shown below). Figure 5-12 (As shown). The internal structure can alternatively be a differentiating component that combines with other components to form the body 110 of the end effector. For example, the internal structure 112 can be an insert that attaches to an internal opening in the suction cup system 160.

[0106] The internal structure 112 is preferably at least semi-rigid. In some variations, the body 110 may be made entirely of rigid or semi-rigid materials. As rigid or semi-rigid materials, the end effector can have a long service life because its use has little impact on the structure and function of the end effector. The body 110 may be manufactured from a single piece of material, or it may be a multi-part design. Some variations may utilize flexible or non-rigid materials to realize the end effector and the elements in the body. As an exemplary variation, the end effector may include a flexible bellows to provide greater flexibility when in contact with an object, and the flexible area may be integrated into the body 110.

[0107] This paper describes in more detail various structural variations of the various components of the end effector, including the main body 110.

[0108] Generally, the main body 110 will include at least some portions or sub-components that define the concave inner cavity 120.

[0109] As shown in the examples in Figures 13-20, the structural body 110 may include a semi-rigid component forming an inner cavity 120 to facilitate gripping of bagged objects, and an external suction cup system 160 to facilitate gripping of non-bagged objects (e.g., boxed objects) and / or tightly packed objects.

[0110] like Figure 5-12 As shown, the structural body 110 can alternatively be a fully semi-rigid or rigid structure made of one or more component parts, without the suction cup 160 component. As an example, the body 110 can have a bell-like shape, but the shape of the end effector body can be customized to any suitable form. In a preferred embodiment, the body 110 has a generally symmetrical form about a central axis, with the vacuum line interface 150 and the inlet port leading to the defined internal channel 140 located on opposite sides. In one embodiment, the body 110 has a 3D printing compatible form, allowing the end effector to be made from a single component. However, any suitable manufacturing and assembly techniques can be used alternatively.

[0111] In some variations, the main body 110 may include an external flexible bellows component 161 to allow the end effector to flex and extend, but does not include a suction cup flange.

[0112] The array of concave inner chambers 120 and inlet holes 130 works together to enhance the grip of the bag. As described above, the concave inner chambers 120 are defined by the internal structure 112, therefore the features of the inner chambers 120 can alternatively be described as features of or defined by the internal structure 112.

[0113] When pressure is applied, the bag can be pulled into the inner chamber 120, and the defined volume of the chamber 120 is shaped to allow sufficient bag material to enter in order to establish a seal over substantially the entire array of inlet holes 130. Multiple inlet holes 130 located at different positions can establish different points of force application. In variations with inlet holes of different orientations, the bag can be pulled in different directions at different locations within the inlet holes 130.

[0114] As discussed in some examples, the force generated by the pressure applied from one or more inlet holes 130 in a specific area can be in the opposite direction to the direction in which the bag enters the chamber opening, thereby increasing the friction between the bag film and the wall of the chamber opening and preventing slippage when moving an object in space while clamping it. This is used to enable the end effector structure to function in a folding buckle manner.

[0115] The concave inner chamber 120 is formed by the internal structure 121 of the main body structure 110. In some variations, the internal structure 121 may be only a part of the main body structure 110 that forms the end effector, for example... Figure 6 As shown. Alternatively, the internal structure 121 can be a distinct component that is connected to another component of the main structure 110. In one example, the internal structure 121 is an insert positioned within an opening of the suction cup system 160. The description of the inner chamber 120 can refer to the defined cavity formed by the internal structure 121.

[0116] The inner chamber 120 is preferably recessed from the chamber opening. In other words, the inner chamber is a defined cavity that is recessed in the longitudinal direction (recessed from the distal chamber opening toward the proximal end of the end effector). The inner chamber 120 is generally described herein as having a rounded or circular chamber opening in the object engagement region. However, the chamber opening may have alternative shapes.

[0117] In some variations, the inner chamber 120 is an enlarged concave inner chamber, wherein the inner chamber 120 has a width at its widest region greater than the width of the chamber opening. In a more generalized characteristic representation, the width of a segment of the cavity is greater than at least one segment of the cavity closer to the opening. The inner chamber 120 may be dome-shaped, but may also have various internal geometries. The inner chamber 120 may have an irregularly shaped defined volume.

[0118] The internal chamber 120 is composed of internal walls, which may include a top internal wall 122 and side internal walls 123. In some variations, when the end effector includes a lip structure 121, the internal chamber 120 may additionally include a lip-shaped internal wall 124. In some variations, such internal walls of the end effector may not be clearly distinguishable and may be continuous surfaces. In other variations, more complex forms may have other internal structural features in the internal chamber 120, where alternative wall descriptive terms may be used. The descriptions of top internal walls, side internal walls, and lip-shaped internal walls herein are for the convenience of describing various characteristics and the general arrangement of characteristic structures, and are not intended to limit the internal chamber to three different types of walls.

[0119] The top inner wall 122 will generally be characterized as a wall opposite to the opening (i.e., the chamber opening) in the inner chamber 120. The side inner walls may be characterized as walls extending longitudinally from the top inner wall 122 toward the chamber opening. In variations including the lip portion 121, the side inner walls 123 will generally gradually narrow outward or extend to the base of the lip portion inner wall 124.

[0120] The inner chamber and its inner wall define a concave cavity that functions to pull in and hold the bag. In an enlarged concave variant of the inner chamber 120, the inner chamber defines a concave cavity that can be characterized as including a chamber opening and a central cavity, wherein the width of the chamber opening is narrower than at least one region of the central cavity in at least one segment. An inwardly extending lip 121 serves to define the chamber opening.

[0121] As shown in Figure 4, the dimensions of the body and the inner chamber 120 can be customized for different bag materials and / or the size / weight of the object. The weight of the object, the type of bag material, the slack / excess of the bag material, and / or other factors can be taken into account in the structure of the inner chamber 120. In one variation, the average width of the chamber opening is greater than the height (i.e., depth) of the concave inner chamber. In the case of a circular chamber opening, this can be alternatively described as: the ratio of the chamber opening diameter to the inner chamber height is greater than one (i.e., the diameter is greater than the height). Here, the height refers to a measurement in the longitudinal direction, where the chamber height is the height from the object engagement area to the wall of the concave inner chamber opposite the object engagement area. The height and width of the inner chamber can depend on the thickness of the film, the bag, and the weight of the object inside.

[0122] The chamber height defined from the chamber opening to the top wall is preferably high enough to draw in a sufficient amount of material. The opening width (i.e., the width of the chamber opening) is the defining opening in the horizontal direction. The opening width is preferably wide enough to allow bag material to be drawn into the chamber without overfilling the chamber opening, which would cause the bag material to be stretched under pressure. Generally, the chamber height is greater than the chamber opening, but this configuration is not limited to. The profile of the chamber width (width within the defined central cavity) can vary at different cross-sectional regions along the height of the end effector. In the enlarged concave inner chamber 120, the inner chamber 120 can typically have a maximum width greater than the chamber opening width discussed. However, variations in which the inner chamber is not centered on a central axis are possible, where the characteristics of the enlarged concave inner chamber 120 can be achieved through alternative configurations. The terms height, width, longitudinal, horizontal, and / or other related terms used to refer to measurements and directions are based on Figure 21A and 21B The references shown are for illustrative purposes only and do not limit the end effector to any particular form or orientation. Those skilled in the art will understand that these related terms are for convenience of description only and do not limit the end effector to any particular form or orientation.

[0123] In some variations, the inner chamber 120 may not have a defined lip 121. In one such example, the inner chamber 120 may be a generally cylindrical defined cavity extending from the chamber opening toward the top wall, as shown in Figure 13.

[0124] In some variations, the internal structure 112 may include structural features that function in a similar or complementary manner to the lip structure 121. Such structural features may involve the internal structure 112 having a structural form extending inward or outward within the internal cavity 120. For example, the side inner wall 123 may function or operate in a similar manner to the lip portion 121. Figure 11A and 11BAs shown, in some alternative variations, the inner chamber 120 may include a side inner wall 123 with a patterned surface. This patterned surface may be a series of protrusions. The patterned surface structure may be an alternative type of inner lip structure. The inlet orifice may be located in a valley between the protrusions.

[0125] As another alternative example, the top wall could have downward-extending internal protrusions, such as... Figure 12 As shown. Such structural features can be used to modify the performance of the end effector. For example, a downward protrusion can increase the surface area of ​​the bag material that the end effector can grasp.

[0126] As discussed, in a preferred variant, the main body structure 110 includes a lip structure 121 that extends inward and protrudes across the opening of the inner chamber 120. The lip structure 121 can function as the edge of the chamber opening. Therefore, the lip structure 121 can partially define the volume of the inner chamber. The lip structure 121 preferably extends from the bottom surface of the main body structure 110.

[0127] As a variation, the lip structure 121 can extend inwardly from the main structure to define a rounded chamber opening. The lip structure 121 preferably forms a circular, elliptical, or other type of symmetrical rounded shape for the chamber opening. However, the lip structure 121 can be used to create a chamber opening of any suitable shape. The lip structure 121 can extend uniformly from all sides of the main structure 110. The lip structure 121 can also extend non-uniformly.

[0128] In one variation, the lip structure 121 extends inward from a limited portion of the main structure 110 to define a lip structure 121 that covers only a portion of the chamber opening. In one embodiment, the lip structure 121 extends inward from half a circumference of the main structure 110, thereby forming the lip structure 121 only on a limited portion of the chamber opening, such as... Figure 22A and 22B As shown. This variation can enhance clamping along one dimension. The actuation system for manipulating the end effector can include an encoder or other means of monitoring the end effector orientation, enabling it to properly orient the end effector so that the lip portion is in the appropriate direction. This is particularly useful in applications of highly repeatable automation systems where fixed or consistent manipulation paths are repeatedly executed and the orientation of the lip portion can be integrated into the manipulation path.

[0129] The lip structure 121 preferably includes an inner wall 124 of the lip portion. In some variations, the inner wall 124 of the lip portion may include at least one subgroup of an array of inlet holes 130. The inlet holes on the lip portion may be positioned to pass through the surface of the inner wall 124 of the lip portion. Accordingly, the lip structure 121 may include an internal channel to connect the inlet holes on the lip portion to an internal channel 140 of the body. In one variation, for example when the body 110 and the lip structure 121 are a single component or an integrated component, the internal channel 140 of the body extends into the lip structure 121. In a variation where the lip structure 121 is a separate portion attached to the body 110, the lip structure 121 may be manufactured to have an internal channel that connects the inlet holes of the lip structure 121 to the internal channel 140 of the body when the lip structure 121 is attached to the body 110.

[0130] In an alternative variation, the lip structure 121 can be a solid structure, and the inlet hole can be located near the base of the lip structure 121.

[0131] The lip structure 121 is preferably at least semi-rigid and may be made of rigid or semi-rigid materials. In some alternative variations, the lip structure 121 may be made of flexible materials or include flexible portions. The flexible portions can accommodate flexural deformation around the base, intermediate section, at the edge, or at any suitable location.

[0132] The lip structure 121 can be a generally flat structure. However, the lip may have a patterned structure (protrusions, grooves, etc.) and / or other features. The lip structure 121 preferably extends transversely to the central direction of the pressure force. For example, if the principal direction of pressure at the chamber opening is upward in the longitudinal direction, then the lip structure 121 extends at least partially in the horizontal direction. In alternative variations, the lip may slope downward or upward, or have some form of bevel or additional structural features, such as... Figure 23 As shown.

[0133] The lip structure 121 may include a low-friction rounded edge along the chamber opening, which serves to better allow the bag to be pulled into the inner chamber 120. The lip structure 121 may alternatively or additionally include discrete edges to facilitate the formation of pleats on the bag after the bag engages with the inlet opening on or near the lip structure 121.

[0134] In some hybrid variants, the end effector includes a transition air channel 125, which facilitates the establishment of a transition area between the chamber opening and the suction cup system 160. This has the potential benefit of adaptively gripping different types of bagged items. For example, the transition air channel 125 allows for the selective handling of tightly bagged and loosely bagged objects. The transition air channel 125 leaks air into the suction cup when the bag material is not fully gripped in the inner chamber 120. Thus, the transition air channel 125 allows the suction cup system 160 to grip tightly bagged objects with less flexible bag material for complete engagement in the inner chamber 120. However, when engaging loosely bagged objects, the bag material can be properly held in the inner chamber 120.

[0135] The transition air passage 125 may be a defined groove between the chamber opening and the outer edge of the sealing lip 161. The transition air passage 125 may extend from the inner edge of the concave inner chamber 120 (at or near the chamber opening) toward the sealing lip 161. The air passage 125 may extend only partially toward the edge of the sealing lip 161. The transition air passage may be arranged in a ring-shaped pattern periodically around the opening, but any suitable pattern may be used. In one embodiment, the internal structure 112 includes a set of flanges that extend at least partially in a horizontal direction. In such a variation, the internal structure 112 may be made of a rigid material of the central opening of the insertion suction cup system 160. Thus, these flanges extend outward from the chamber opening. These flanges establish sidewalls, and the surface of the sealing lip 161 may serve as the bottom surface of the passage.

[0136] In another embodiment, the sealing lip 161 may include ridges extending to the junction of the internal structure 112 and the opening of the suction cup system 160, wherein these ridges define a cavity extending from the chamber opening toward the outer edge of the sealing lip 161. The transition air passage 125 may be defined as a linear passage, but may also be of any suitable shape. For example, a network defining the passages may connect the outer edge of the chamber opening to the outer region of the sealing lip 161.

[0137] The array of inlet holes 130 serves to define multiple through channels extending through the wall of the body 110, enabling pressure to be applied from the inner chamber 120. The array of inlet holes 130 is preferably positioned on the inner wall of the internal structure 112 defining the concave inner chamber 120. In one variation, the inlet holes 130 are primarily or entirely arranged on the top inner wall 122. In such a variation, the inlet holes 130 may be made of mesh or grid. In some variations, subgroups (e.g., one or more) of inlet holes may be positioned on the top inner wall 122, the side inner walls 123, and / or the lip-shaped inner wall 124.

[0138] The inlet aperture may be a small, defined cavity within the body 110. The defined through-channel may be cylindrical. In another variation, the inlet aperture may be an elongated slit forming a more rectangular defined through-channel. In one variation, an array of inlet apertures 130, or at least a subgroup of an array of inlet apertures 130, may be formed of a mesh material. The inlet apertures may alternatively use any suitable shape, arrangement, and have any suitable size. Furthermore, these inlet apertures in the array of inlet apertures 130 may be substantially uniform, but may also have different sizes and shapes, which may be configured for the function of each inlet aperture.

[0139] The various parts of the array of inlet orifices 130 can be distributed in different regions. The arrangement and configuration of the inlet orifices 130 can be customized for specific performance objectives of the end effector.

[0140] In some variations, the end effector may wish to pull as much bag material upward as possible into the inner chamber 120. In this way, the array of inlet holes can be positioned entirely or primarily along the top inner wall 122.

[0141] In another variation, the layout can be configured to facilitate a desired manner in which the bag is pulled into the inner chamber 120 and then further pulled toward the inlet holes facing the sides and / or bottom. The array of inlet holes 130 can be configured to facilitate desired flow and manipulation of the film when pulled into the inner chamber 120. The arrangement of the inlet holes can include a configuration that facilitates an engagement sequence between the clamped film and the array of inlet holes 130, such that during the initial clamping of the object, the inlet holes across the inner surface of the inner chamber 120 engage sequentially with the film in an expanding manner (i.e., flow is blocked). The arrangement of the array of inlet holes 130 refers to the location and pattern of the inlet holes. This arrangement can also refer to patterns in the properties of the inlet holes, such as size and shape. In one variation, the arrangement is a series of outwardly expanding inlet holes, which can be a radial pattern of inlet holes. These inlet holes can radiate symmetrically (or asymmetrically) from the top inner wall 122. The radial pattern of the inlet holes can serve to facilitate the inflow of film material into the inner chamber 120 and initially upward flow toward the inlet holes on the top inner wall. When the central inlet orifice is blocked, the membrane flow can be drawn toward and possibly around the covered inlet orifice. This can continue until substantially all inlet orifices are blocked, thereby holding the membrane in a strategically positioned location by the inlet orifices, such as the inner wall 124 of the lip. Any suitable arrangement can be used alternatively.

[0142] like Figure 10AAs shown, an exemplary variant may include a first set of inlet holes (e.g., an inlet hole) in a region near the top inner wall 122 (e.g., centered on the top, around the central top, etc.), a second set of inlet holes along the lower part of the side inner wall 123, and a third set of inlet holes on the lip inner wall 124.

[0143] In a variation including the lip structure 121, at least one subgroup of inlet holes is positioned on and / or near the lip structure 121. When positioned on the lip structure 121, the inlet holes can be evenly distributed across the inner wall 124 of the lip portion, preferably in, for example... Figure 3B The pattern shown. When positioned near the lip structure 121, subgroups of the array of inlet holes 130 can be positioned adjacent to the base. This is a method that can be used when the lip is substantially thin (e.g., in height) or does not have internal channels, such as... Figure 8 As shown.

[0144] In some variations, the array of inlet holes 130 preferably has inlet holes 130 positioned along the wall of the inner chamber 120 so that these inlet holes point in various directions. This can serve to diversify the direction of applied force. Herein, the orientation of the inlet holes is characterized as a vector along the flow direction defined by an axis substantially orthogonal to the body surface at the location of the inlet holes. Additionally, subgroups of the array of inlet holes 130 can be positioned offset from the outer side of the chamber opening. When the end effector includes an enlarged inner chamber 120 and / or a lip structure 121, the offset of the inlet holes from the outer side of the chamber opening can cause the bag material to bend against the lip structure 121, thereby better gripping the bag material.

[0145] In one variation, the array of inlet holes 130 includes at least a first subgroup of inlet holes opening in the direction of the chamber opening and a second subgroup of inlet holes opening in a direction away from the chamber opening. For example, if the chamber opening is oriented to have an upward airflow, the first subgroup of inlet holes is configured to also guide the airflow upward in one subregion of the inner chamber 120, and the second subgroup of inlet holes is configured to guide the airflow downward in another subregion of the inner chamber 120. In a particular variation, at least a portion of the second subgroup of inlet holes is located on the inner wall 124 of the lip, but may alternatively be located in other directions as described above.

[0146] like Figure 24 As shown in the alternative variations, some variations may include an inlet orifice that is substantially offset from the chamber opening and oriented in the direction of the chamber opening (e.g., for applying at least partially upward force). The figure illustrates an exemplary variation that does not include an inlet orifice having an orientation opposite to that of the chamber opening.

[0147] In one variation, the array of inlet orifices 130 may include one or more actively controlled inlet orifices. The actively controlled inlet orifices are preferably inlet orifices whose opening state can be changed. In one variation, the actively controlled inlet orifices can be opened and closed. In another variation, the actively controlled inlet orifices can change the opening amount to allow more or less air to pass through. In one embodiment of the controlled inlet orifices, the system includes a controlled valve that can be opened and closed according to a control signal. Other suitable mechanisms may be used. In some cases, multiple inlet orifices can be controlled by a single mechanism. The actively controlled inlet orifices can be controlled in a manner coordinated with gripping. For example, when the bag is initially pulled into the inner chamber 120, the controlled inlet orifices may be in a state such as... Figure 25A As shown, and then in different states when subsequently grasping the bag, such as Figure 25B As shown.

[0148] The defined internal channel 140 functions as an open volume enclosed by the walls of the main structure 110. The internal channel 140 fluidly connects the vacuum line interface 150 to the inner chamber 120 via an array of inlet holes 130. The internal channel 140 can be an open cavity. In some variations, the main structure 110 can be made of a rigid material forming the connection between the outer surface and the inner chamber, and it may include the internal channel 140. In another variation, the internal channel 140 can be a cavity defined between the bellows of the suction cup system 160 and the inner structure 112. The internal channel 140 can also be a cavity defined when the end effector is connected to the vacuum line interface 150. In a particular embodiment, the internal channel 140 can be one or more tubes connecting the inlet holes to the vacuum line interface 150.

[0149] The vacuum line interface 150 serves as a defined space through which the pressure system can establish a fluid connection with the inlet orifice. The reduced pressure at the vacuum line interface 150 preferably results in airflow and inward pressure at each inlet orifice in the array of inlet orifices 130, as well as inward pressure across the chamber openings. The end effector preferably includes the vacuum line interface, which serves as a connector to the pressure line and / or actuation system. The vacuum line interface preferably defines a cavity for the vacuum line interface 150. The vacuum line interface can be a threaded fastener, locking mechanism, friction interface, snap-fit ​​interface, and / or any suitable mechanism for coupling to the pressure line and / or actuation system. The actuation system can alternatively be attached to and / or physically coupled to different locations on the body structure 110. In a variation, the vacuum line interface can be a magnetized attachment surface for magnetic attachment to the actuation system and the pressure system.

[0150] As discussed, in some variations, the end effector may be integrated into or formed as part of a hybrid end effector. In a hybrid variation, the end effector may include a suction cup system 160, which may be attached to and / or formed as part of the body structure 120. The suction cup system 160 has a sealing lip 161 extending beyond the object engagement area of ​​the inner cavity 120. The suction cup system 160 serves to provide a suction cup mechanism for grasping certain types of objects.

[0151] The suction cup system 160 helps to form an initial seal with a bag or object using the flexibility of the suction cup. In the case of a bag, the bag material can be pulled into the inner cavity 120 of the rigid structure 110 for gripping. The flexible sealing lip 161 also allows the end effector system to operate on a wider range of objects. For example, hybrid variants can grip flat, hard surfaces (e.g., cardboard boxes) as well as loose plastic bags. This can be particularly useful in applications such as parcel handling.

[0152] The suction cup system 160 preferably has an object engagement area that is substantially aligned with the object engagement area of ​​the inner cavity 120. These are typically as follows: Figure 21B As shown, they are along adjacent parallel planes and can be coplanar.

[0153] In one variation, the suction cup system 160 can completely surround the main body structure 110. Alternatively, the suction cup system 160 can be positioned on the end of the end effector. In yet another variation, the suction cup system 160 can be used in conjunction with a rigid insert, such that the defined internal channel 140 can be formed collaboratively by the suction cup system 160 and the rigid main body structure 110 in the form of an insert, as... Figure 28 And as shown in Figures 14-19. The suction cup system 160 may include structural features to hold the insert in place when it is assembled. Alternatively, the flexible suction cup 160 may be integrally attached to the rigid insert (e.g., overmolded around the insert).

[0154] The suction cup system 160 preferably includes at least one sealing lip 161, which is an outwardly extending flexible lip or flange. The sealing lip 161 has a sealing surface in a connection path such as annular, elliptical, or any suitable path shape. The sealing lip 161 may include any suitable design features of the suction cup. When engaged with a suitable object, the sealing lip 161 contacts the object across the surface, flexes and deforms, and establishes a sealed grip on the object.

[0155] The suction cup system 160 may additionally include a bellows 162. The bellows provides flexibility when engaging with the surface of an object. In one variation, the bellows 162 may be positioned at the distal end of the end effector near the suction cup head. In another variation, the bellows 162 may appear at the proximal end of the end effector, close to the vacuum line interface. In one variation, the bellows 162 may form an external structure of the body structure 110. The bellows may connect to a sealing lip. In one variation, the bellows and the lip are made of a single flexible material component.

[0156] In some variations, the end effector may additionally include a rigid shield 180 that at least partially surrounds the bellows. The rigid shield 180 may be a rigid ring structure that extends horizontally outward from an upper portion (e.g., the proximal side opposite the engagement area), through the bellows, and then downward toward the object engagement side.

[0157] The aforementioned features and optional variations of the end effector can be combined in a variety of ways and in many different forms, while still maintaining the disclosed end effector concept.

[0158] In another variation, the end effector system may include a body structure 110 having two or more defined internal channels 120, each internal channel connecting a different vacuum line opening 150 to an array of different inlet ports 130. As an example of this variation, a first vacuum line interface 1501 may be coupled to a first subgroup of inlet ports 1301 via a first defined internal channel 1401, and a second vacuum line interface 1502 may be coupled to a second subgroup of inlet ports 1302 via a second defined internal channel 1402, such as... Figure 26 As shown. The end effector system may include a separately controlled vacuum pressure system or at least separately controlled pressure lines, allowing suction to be individually controlled for different subgroups of inlet orifices.

[0159] This variation can be controlled such that during the initial grasping phase, the first sub-assembly is used to pull the bag into the inner chamber 120, while the second sub-assembly is inactive, and during the subsequent clamping phase, the second sub-assembly of the inlet hole is used to clamp the bag material in the inner chamber 120 along the inlet hole positioned for manipulating the object. For example, in one variation, the second sub-assembly of the inlet hole may be along the inner wall of the lip portion.

[0160] In another additional variant, the end effector may include multiple different concave internal chambers 120, such as Figure 27 As shown. These concave inner chambers can be individually controlled or controlled via a common vacuum line interface 150. The different inner chambers 120 can be substantially the same or differ in various details. The plurality of inner chambers 120 can be patterned along the object mating area in any suitable manner.

[0161] In another additional variant, the end effector may include one or more inner lip portions, such as Figure 9 As shown. These inner lip portions may extend horizontally or may alternatively be oriented in different directions. Similar to the lip structure 121 described herein, variations of the inner lip portion may similarly have an inlet hole located on or near the surface of the inner lip portion.

[0162] In some variations, the end effector can be used as part of a multi-head end effector system, which includes at least a first end effector and a second end effector, wherein at least one of the first end effector or the second end effector is a bag gripping end effector such as described above.

[0163] Although two types of end effectors are mentioned, a multi-end effector system can include any suitable number of end effectors. The engagement regions of the first and second end effectors can be aligned as coplanar or substantially parallel planes. However, these end effectors can alternatively be aligned along different planes.

[0164] The two end effectors may share a common connection to a common vacuum pressure system 170. Alternatively, the first and second end effectors may have different connections to independent vacuum pressure systems. Thus, the multi-end effector system may include a first vacuum pressure system connected to the first end effector and a second vacuum pressure system connected to the second end effector.

[0165] Multiple end effectors can be used for redundancy in some implementations. In other implementations, the two end effectors are different types of end effectors used for different gripping capabilities.

[0166] At least one of these end effectors is preferably a bag gripping end effector. For simplicity, the first end effector is described as a bag gripping end effector comprising a body structure having a vacuum line opening and an object engagement region, the vacuum line opening being configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure; the body structure including a suction cup system comprising a flexible sealing lip in the object engagement region; the body structure including an internal structure defining a concave inner chamber having a chamber opening in the object engagement region, the chamber opening being positioned within the gripping region of the sealing lip; the internal structure including an array of inlet holes positioned along at least one wall of the concave inner chamber, wherein each inlet hole defines an opening in the body leading to the defined internal channel.

[0167] In one variant, the second end effector can be a suction cup end effector, such as... Figure 29As shown. The second end effector can alternatively be any suitable type of contact end effector.

[0168] In another variation, the second end effector can be another type of bag-gripping end effector. It can be configured differently from the first end effector to achieve diverse gripping capabilities. Figure 30 In one example shown, the chamber diameter of the opening of the first end effector may differ from the diameter of the chamber opening of the second end effector. The first and second end effectors may alternatively comprise any other combination of different features and / or configurations.

[0169] The end effector is not limited to including only these features, but may include any suitable features of the end effector, or be combined with other end effector components or pick-and-place robot system elements.

[0170] Those skilled in the art will recognize from the foregoing detailed description, the accompanying drawings, and the claims that modifications and alterations can be made to the embodiments of the invention without departing from the scope of the invention as defined by the following claims.

Claims

1. An end effector for a pick-and-place system, comprising: A main structure having a vacuum line opening and an object engagement area, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the main structure. The main structure includes a suction cup system, which includes a flexible sealing lip at the object engagement area; The main structure includes an internal structure defining a concave inner cavity with an inner cavity diameter, the inner cavity having a cavity opening at the object engagement area, the cavity opening being positioned inside the gripping area of ​​the sealing lip, and the diameter of the cavity opening being smaller than the inner cavity diameter; The internal structure includes an array of inlet holes positioned along at least one wall of the concave internal cavity, wherein each inlet hole defines an opening in the main structure leading to the defined internal channel, and the internal structure also includes a plurality of air channels, each air channel defining an opening in the internal structure between the defined internal channel and the object engagement region; The airflow for controllably joining the objects at the object joining area flows in the following order: from the vacuum line opening to the defined internal channel, through the inlet hole array into the concave inner chamber, and then through the plurality of air channels to the object joining area.

2. The end effector according to claim 1, wherein, The inlet hole array includes a first subgroup of inlet holes positioned along the wall of the internal structure opposite the chamber opening.

3. The end effector according to claim 2, wherein, The array of inlet holes includes at least one second subgroup of inlet holes along the second wall of the concave inner cavity, wherein the second subgroup of inlet holes is defined in an orientation different from that of the first subgroup of inlet holes.

4. The end effector according to claim 3, wherein, The internal structure also includes a lip structure that at least partially defines the chamber opening; wherein a first subgroup of the inlet holes opens in the direction of the chamber opening, and a second subgroup of the inlet holes is positioned on the lip structure and opens in a direction away from the chamber opening.

5. The end effector according to claim 1, wherein, The average width of the cavity opening is less than the height of the concave inner cavity.

6. The end effector according to claim 1, wherein, Each air passage extends outward from the inner edge of the concave inner chamber toward the sealing lip.

7. The end effector according to claim 1, wherein, The suction cup system is made of a flexible material; wherein the concave inner cavity is made of a rigid material and is inserted into the central opening of the suction cup system.

8. The end effector according to claim 7, wherein, The concave inner cavity includes a set of flanges extending outward from the cavity opening, thereby forming the plurality of air channels when inserted into the central opening of the suction cup system.

9. The end effector according to claim 1, wherein, The suction cup system includes a bellows forming the outer surface of the main structure, wherein the bellows is connected to the sealing lip.

10. The end effector of claim 9, further comprising a rigid shield surrounding the bellows.

11. An end effector system, comprising: A first end effector, comprising: A main structure having a vacuum line opening and an object engagement area, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the main structure. The main structure includes a suction cup system, which includes a flexible sealing lip at the object engagement area; The main structure includes an internal structure defining a concave inner cavity, the concave inner cavity having a cavity opening at the object engagement area, the cavity opening being positioned inside the gripping area of ​​the sealing lip; The internal structure includes an array of inlet holes positioned along at least one wall of the concave inner cavity, wherein each inlet hole defines an opening in the main structure leading to the defined internal channel. The internal structure also includes a plurality of air channels, each air channel defining an opening in the internal structure between the defined internal channel and the object engagement region. The airflow for controllably engaging the object at the object engagement region flows in the following order: from the vacuum line opening to the defined internal channel, through the array of inlet holes into the concave inner cavity, and then through the plurality of air channels to the object engagement region. Second end effector; The diameter of the chamber opening of the first end effector is different from the diameter of the second chamber opening of the second end effector.

12. The end effector system according to claim 11, wherein, The object engagement regions of the first end effector and the second end effector are defined substantially along the same plane.

13. The end effector system of claim 11, further comprising a first vacuum line connected to the first end effector; and a second vacuum line connected to the second end effector.

14. The end effector system according to claim 11, wherein, The second end effector is a suction cup end effector.

15. The end effector system according to claim 11, wherein, The first end effector includes transition air passages, each of which extends outward from the inner edge of the concave inner chamber toward the sealing lip.

16. The end effector system according to claim 11, wherein, The suction cup system includes a bellows forming the outer surface of the main structure, wherein the bellows is connected to the sealing lip.

17. An end effector system, comprising: A first end effector, comprising: A main structure having a vacuum line opening and an object engagement area, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the main structure. The main structure includes a suction cup system, which includes a flexible sealing lip at the object engagement area; The main structure includes an internal structure defining a concave inner cavity, the concave inner cavity having a cavity opening at the object engagement area, the cavity opening being positioned inside the gripping area of ​​the sealing lip; The internal structure includes an array of inlet holes positioned along at least one wall of the concave inner cavity, wherein each inlet hole defines an opening in the main structure leading to the defined internal channel. The internal structure also includes a plurality of air channels, each air channel defining an opening in the internal structure between the defined internal channel and the object engagement region. The airflow for controllably engaging the object at the object engagement region flows in the following order: from the vacuum line opening to the defined internal channel, through the array of inlet holes into the concave inner cavity, and then through the plurality of air channels to the object engagement region. Second end effector; The inlet hole array includes at least one second subgroup of inlet holes along the second wall of the concave inner cavity, wherein the second subgroup of inlet holes is defined in an orientation different from that of the first subgroup of inlet holes.

18. The end effector system according to claim 17, wherein, The object engagement regions of the first end effector and the second end effector are defined substantially along the same plane.

19. The end effector system of claim 17, further comprising a first vacuum line connected to the first end effector; and a second vacuum line connected to the second end effector.

20. The end effector system according to claim 17, wherein, The second end effector is a suction cup end effector.

21. The end effector system according to claim 17, wherein, Each air passage extends outward from the inner edge of the concave inner chamber toward the sealing lip.

22. The end effector system according to claim 17, wherein, The suction cup system includes a bellows forming the outer surface of the main structure, wherein the bellows is connected to the sealing lip.

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