Method and apparatus for adaptable suction device

Abstract

The invention provides a gripping device. The gripping device comprises a frame structure; a suction compartment, a suction wall; a diaphragm wall; a suction cup attached to the suction wall and configured to grab an object; the at least one deformable membrane is configured to be attached to and grab an object; wherein the outer edge region of the deformable diaphragm is fixed to the diaphragm wall by means of the clamp; wherein the inner edge of the deformable membrane is attached to the suction wall; wherein the diaphragm wall, the suction wall and the deformable diaphragm form an at least partially sealed diaphragm compartment; wherein the diaphragm compartment is filled with a substance; at least one pressure mechanism configured to adjust the pressure of such a substance in the diaphragm compartment or at least the pressure of the suction compartment; at least one diaphragm wall actuation mechanism adapted to move the diaphragm wall relative to the frame structure; wherein the gripping device is adapted to grip objects of different shapes and sizes using at least a suction cup, or at least a deformable membrane, or a combination of a suction cup and a deformable membrane.

Description

[0001] This application is a divisional application of the Chinese invention patent with application number 202080038031.X filed on November 12, 2020.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims the benefit of U.S. Provisional Patent Application No. 62 / 933,647, filed on November 11, 2019, and U.S. Provisional Patent Application No. 63 / 038,806, filed on June 13, 2020, which are incorporated herein by reference. Technical Field

[0004] The present invention generally relates to a device configured to grasp, attract and hold objects, and more particularly, to a method and apparatus for grasping a variety of different objects. Background Art

[0005] The rise of automation in industries such as manufacturing, agriculture, e-commerce, and logistics has brought about a growing demand for robotic manipulators and grippers that fit on them. More specifically, many fields require a single gripper to grip different kinds of objects. Existing solutions mainly involve the use of finger-type grippers or vacuum suction cups.

[0006] For a finger-type gripper, the gripping force, approach direction, and gripping point on the object need to be well defined to ensure successful gripping without damaging the object. In addition, it is difficult for a finger-type gripper to grip objects from surfaces that are larger than the maximum opening of the fingers. Furthermore, if a batch of rectangular parallelepiped-shaped boxes are packed tightly so that all sides of the boxes are in full contact with adjacent boxes, the finger-type gripper cannot grip the boxes from the top because there is no room for the fingers to reach in and grip the sides of the boxes.

[0007] Vacuum cups can grip objects larger than the cup size or pick up a box from a batch of tightly packed boxes, and there is no high requirement for gripping force control. However, since vacuum cups have difficulty gripping objects with certain shapes that cannot establish a good seal between the object and the vacuum cup, the types of objects they can grip are limited, and the approach direction and gripping point on the object still need to be well defined.

[0008] Combining fingers and vacuum cups into a single gripping device, such as the gripping device in US7,409,812, can reduce some of their respective limitations, but problems with approach direction and gripping point still exist. In addition, they often still cannot grasp a variety of objects including uneven large surfaces.

[0009] Although there are several grippers, such as finger grippers and vacuum cup grippers, none are particularly effective and suitable for acting on various types of objects. Therefore, there remains a need for a device that can use gripping and suction forces to pick up and move a variety of objects. In addition, there remains a need for a device that provides continuous suction while objects are being gripped and displaced. The present invention meets these needs. Summary of the invention

[0010] The present invention will provide a suction device suitable for providing gripping force and suction force to pick up and move various objects. This is achieved by a suction compartment, a diaphragm compartment, a deformable diaphragm sealing the diaphragm compartment, and at least one pressure mechanism. The at least one pressure mechanism is fluidly connected to the suction compartment and is configured to change the characteristics within the suction compartment to help provide gripping force and suction force. The present invention will grasp the object by positioning the deformable diaphragm adjacent to the object, changing the deformable diaphragm to fit the object and create a seal with the object, and then decompressing the suction compartment by the pressure mechanism, providing a suction force sufficient to grasp the object to the object in the sealed area.

[0011] After reading the detailed description of the following preferred embodiments, these and other objects of the present invention will become apparent to those skilled in the art.It should be understood that the above general description and the following detailed description are exemplary and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1A is a cross-section of a front perspective view of the present invention;

[0013] Figure 1B is a cross-section of a front perspective view of the present invention;

[0014] Figure 1C is a cross-section of a front perspective view of the present invention;

[0015] Figure 2A is a cross-section of a bottom perspective view of the present invention;

[0016] Figure 2B is a cross-section of a bottom perspective view of the present invention;

[0017] Figure 2C is a cross-section of a bottom perspective view of the present invention;

[0018] Figure 2D is a cross-section of a bottom perspective view of the present invention;

[0019] Figure 2E is a cross-section of a bottom perspective view of the present invention;

[0020] Figure 2F is a cross-section of a bottom perspective view of the present invention;

[0021] Figure 3A is a cross-section of a front perspective view of the present invention;

[0022] Figure 3B is a cross-section of a front perspective view of the present invention;

[0023] Figure 3C is a cross-section of a front perspective view of the present invention;

[0024] Figure 3D is a cross-section of a front perspective view of the present invention;

[0025] Figure 3E is a cross-section of a front perspective view of the present invention;

[0026] Figure 3F is a cross-section of a front perspective view of the present invention;

[0027] Figure 4A is a cross-section of a front perspective view of the present invention;

[0028] Figure 4B is a cross-section of a front perspective view of the present invention;

[0029] Figure 4C is a cross-section of a front perspective view of the present invention;

[0030] Figure 5 is a cross-section of a front perspective view of the present invention;

[0031] Fig. 6A is a cross-section of a front perspective view of the present invention;

[0032] Figure 6B is a cross-section of a front perspective view of the present invention;

[0033] Figure 6C is a cross-section of a front perspective view of the present invention;

[0034] Fig.6D is a cross-section of a front perspective view of the present invention;

[0035] Fig. 6E is a cross-section of a front perspective view of the present invention;

[0036] Figure 7 is a cross-section of a front perspective view of the present invention;

[0037] Fig. 8A is a cross-section of a front perspective view of the present invention;

[0038] Figure 8B is a cross-section of a front perspective view of the present invention;

[0039] Figure 8C is a cross-section of a front perspective view of the present invention;

[0040] Fig.9A is a cross-section of a front perspective view of the present invention;

[0041] Fig. 9B is a cross-section of a front perspective view of the present invention;

[0042] Fig. 9C is a cross-section of a front perspective view of the present invention;

[0043] Fig.10 is a cross-section of a front perspective view of the present invention;

[0044] Fig.11A is a series of block diagrams of the present invention;

[0045] Fig. 11B is a series of block diagrams of the present invention;

[0046] Fig. 11C is a series of block diagrams of the present invention;

[0047] Fig.11D is a series of block diagrams of the present invention;

[0048] Fig.11E is a series of block diagrams of the present invention;

[0049] Fig.11F is a series of block diagrams of the present invention;

[0050] Fig.11G is a series of block diagrams of the present invention;

[0051] Fig.11H is a series of block diagrams of the present invention;

[0052] Fig. 12A Detailed embodiments of the present invention are shown;

[0053] Fig. 12B A portion of a detailed embodiment of the present invention is shown;

[0054] Fig.13 is a cross-section of a front perspective view of a detailed embodiment of the present invention;

[0055] Fig.14 is a cross-section of a front perspective view of a detailed embodiment of the present invention;

[0056] Fig.15 is a cross-section of a front perspective view of the present invention;

[0057] Fig.16is a cross-section of a front perspective view of the present invention;

[0058] Fig.17 is a cross-section of a front perspective view of the present invention;

[0059] Fig.18 is a cross-section of a front perspective view of the present invention;

[0060] Fig.19 is a cross-section of a front perspective view of the present invention;

[0061] Fig. 20 is a cross-section of a front perspective view of the present invention;

[0062] Fig.21 is a cross-section of a front perspective view of the present invention;

[0063] Fig. 22 is a cross-section of a front perspective view of the present invention;

[0064] Fig.23 is a cross-section of a front perspective view of the present invention;

[0065] Fig.24 is a cross-section of a front perspective view of the present invention;

[0066] Fig.25 is a cross-section of a front perspective view of the present invention;

[0067] Fig.26 is a cross-section of a front perspective view of the present invention;

[0068] Fig. 27 is a cross-section of a front perspective view of the present invention;

[0069] Fig.28 is a cross-section of a front perspective view of the present invention;

[0070] Fig.29 is a cross-section of a front perspective view of the present invention;

[0071] Fig.30 is a cross-section of a front perspective view of the present invention;

[0072] Fig.31 is a cross-section of a front perspective view of the present invention;

[0073] Fig.32A is a cross-section of a front perspective view of the present invention;

[0074] Fig.32B is a cross-section of a front perspective view of the present invention;

[0075] Fig.33A is a cross-section of a front perspective view of the present invention;

[0076] Fig.33B is a cross-section of a front perspective view of the present invention;

[0077] Fig.34A is a cross-section of a front perspective view of the present invention;

[0078] Fig.34B is a cross-section of a front perspective view of the present invention;

[0079] Fig.35A is a cross-section of a front perspective view of the present invention;

[0080] Fig.35B is a cross-section of a front perspective view of the present invention;

[0081] Fig.36A is a cross-section of a front perspective view of the present invention;

[0082] Fig.36B is a cross-section of a front perspective view of the present invention;

[0083] Fig.37A is a cross-section of a front perspective view of the present invention;

[0084] Fig.37B is a cross-section of a front perspective view of the present invention;

[0085] Fig.38A is a cross-section of a front perspective view of the present invention;

[0086] Fig.38B is a cross-section of a front perspective view of the present invention;

[0087] Fig.38C is a cross-section of a front perspective view of the present invention;

[0088] Fig.38D is a cross-section of a front perspective view of the present invention;

[0089] Fig.38E is a cross-section of a front perspective view of the present invention;

[0090] Fig.38F is a cross-section of a front perspective view of the present invention;

[0091] Figure 38G is a cross-section of a front perspective view of the present invention, wherein some of the protrusions are shown in the front perspective view;

[0092] Figure 38H is a cross-section of a front perspective view of the present invention, wherein some of the protrusions are shown in the front perspective view;

[0093] Fig.39A is a cross-section of a front perspective view of the present invention;

[0094] Fig.39B is a cross-section of a front perspective view of the present invention;

[0095] Fig.40A is a cross-section of a front perspective view of the present invention;

[0096] Fig.40B is a cross-section of a front perspective view of the present invention;

[0097] Fig.41 is a cross-section of a front perspective view of a diaphragm of the present invention;

[0098] Fig.42 is a cross-section of a front perspective view of a diaphragm of the present invention;

[0099] Fig.43 is a cross-section of a front perspective view of a diaphragm of the present invention;

[0100] Fig.44 is a cross-section of a front perspective view of a diaphragm of the present invention;

[0101] Fig.45A is a cross-section of a front perspective view of the present invention;

[0102] Fig.45B is a cross-section of a front perspective view of the present invention;

[0103] Fig.46A is a cross-section of a front perspective view of the present invention;

[0104] Fig.46B is a cross-section of a front perspective view of the present invention;

[0105] Fig.47A is a cross-section of a front perspective view of the present invention;

[0106] Fig.47B is a cross-section of a front perspective view of the present invention;

[0107] Fig.47C is a cross-section of a front perspective view of the present invention;

[0108] Fig.47D is a cross-section of a front perspective view of the present invention;

[0109] Fig.48A is a cross-section of a front perspective view of the present invention;

[0110] Fig.48B is a cross-section of a front perspective view of the present invention;

[0111] Fig.48C is a cross-section of a front perspective view of the present invention;

[0112] Fig.49A is a cross-section of a front perspective view of the present invention;

[0113] Fig.49B is a cross-section of a front perspective view of the present invention;

[0114] Fig.50 is a cross-section of a front perspective view of the present invention;

[0115] Fig.51 is a cross-section of a front perspective view of the present invention;

[0116] Fig.52 is a cross-section of a front perspective view of the present invention;

[0117] Fig.53 is a cross-section of a front perspective view of the present invention;

[0118] Fig.54 is a cross-section of a front perspective view of the present invention;

[0119] Fig.55A is a series of block diagrams of the present invention;

[0120] Fig.55B is a series of block diagrams of the present invention;

[0121] Fig.55C is a series of block diagrams of the present invention; and

[0122] Fig.56 is a series of block diagrams of the present invention. DETAILED DESCRIPTION

[0123] Illustrative embodiments of the present invention are described below. The following explanation provides specific details to thoroughly understand and implement the description of these embodiments. Those skilled in the art will appreciate that the present invention can be implemented without these details. In other cases, well-known structures and functions are not shown or described in detail to avoid unnecessary ambiguity in the description of the embodiments.

[0124] Unless the context clearly requires otherwise, throughout the specification and claims, the words "include", "comprising", etc. should be interpreted in an inclusive sense rather than an exclusive or exhaustive sense; that is, in the sense of "including but not limited to", words using the singular or plural also include the plural or singular, respectively. In addition, the words "herein", "above", "below" and words of similar meaning, when used in this application, should refer to the entirety of this application and not to any particular part of this application. When the word "or" is used in a claim with respect to a list of two or more items, the word covers all of the following interpretations of the word: any item in the list, all items in the list, and any combination of items in the list.

[0125] The present invention includes a suction compartment 200, a diaphragm compartment 100, a suction wall 500, a diaphragm wall 510, a deformable diaphragm 300 attached to the suction wall 500 and the diaphragm wall 510, and at least one pressure mechanism 600. The suction compartment 200 is formed within the suction wall 500, and the diaphragm compartment 100 is formed between the suction wall 500, the diaphragm wall 510, and the deformable diaphragm 300. The at least one pressure mechanism 600 is fluidly connected to the suction compartment 200 and is configured to change a property within the suction compartment 200. When the property of the suction compartment 200 and / or the diaphragm compartment 100 changes, the size, shape, and orientation of the deformable diaphragm 300 also changes. In this way, the present invention will position the deformable diaphragm 300 adjacent to the object 900, change the deformable diaphragm 300 to fit the object 900 and create a seal with it, and then depressurize the suction chamber 200 through the pressure mechanism 600, and apply a suction force sufficient to grasp the object 900 to the object 900 in the sealed area.

[0126] Suction compartment 200 can be generally described as a tube or other elongated cylindrical chambers defined by suction wall 500. In a preferred embodiment, suction wall 500 is rigid and is positioned in diaphragm compartment 100. In an alternative embodiment, suction compartment 200 can be positioned outside diaphragm compartment 100, and can be flexible, or can have a flexible portion. In addition, in an alternative embodiment, suction wall 500 and suction compartment 200 are configured to move relative to diaphragm wall 510. These different embodiments will be further described below. In addition, suction wall 500 can also include different shapes, different thicknesses, and can be made of various different materials.

[0127] The suction compartment 200 is in fluid communication with the pressure mechanism 600 and also includes communication with the environment through the opening 400, generally through the opening 400. For example, if the present invention is operated in the air of a room, the pressure in the suction compartment 200 will be atmospheric pressure before the device contacts the object 900. The opening 400 of the suction compartment 200 can take the form of at least one or some combination or all of the following configurations: a single hole, a surface with multiple holes, a grid, a porous material, a filter, a breathable material or other means to form a communication between the suction compartment 200 and the environment.

[0128] The diaphragm compartment 100 is defined by the suction wall 500, the diaphragm wall 510, and is partially or completely surrounded by at least one deformable diaphragm 300 or a part of the diaphragm. In a preferred embodiment, the diaphragm wall 510 is rigid and oriented parallel to the suction wall 500. In an alternative embodiment, the diaphragm wall 510 is oriented so that the effective surface area of ​​the deformable diaphragm 300 increases or decreases. More specifically, the outer diameter of the deformable diaphragm 300 and the seal formed by the deformable diaphragm 300 increase, effectively increasing the volume in the suction compartment and the seal. Alternatively, the diaphragm wall 510 can be angled. In other alternative embodiments, the diaphragm wall 510 is configured to move relative to the suction wall 500 so that the shape and effective surface area of ​​the deformable diaphragm 300 are changed. These different embodiments will be further described below. In addition, the diaphragm wall 510 can also include different shapes, different thicknesses, and can be made of various different materials.

[0129] The deformable diaphragm 300 surrounding the diaphragm compartment 100 is configured to conform to changes produced within the diaphragm compartment 100. More specifically, the diaphragm compartment 100 is filled with a medium, wherein changes in the properties of the medium will change the shape, size, orientation and effective surface area of ​​the deformable diaphragm 200. The medium can be one or a combination of the following elements: a gas, a fluid, a granular material, a phase change material, a compressible solid or other material capable of causing such a compartment to change shape.

[0130] The deformable diaphragm 300 is made of one or more materials, including; polymers, elastomers, composite materials and materials doped with nanoparticles, platelets, graphite, graphene, nanotubes, silicone, latex, thermoplastic elastomers, fiber-reinforced materials, metals or other materials. In several embodiments, the deformable diaphragm 300 can be stretchable or non-stretchable and can have an integral structure including a single component. In addition, the deformable diaphragm 300 can also have an assembled structure, which includes at least one component that can change shape in addition to one or more components that cannot change shape (e.g., a metal threaded insert). In addition, cavities and / or conduits can exist within the deformable diaphragm 300 to provide different functions (e.g., structural, fluid channels, thermal insulation). Finally, the deformable diaphragm 300 can be formed with a variety of surface textures, such as smooth, rough, with one or more recesses, or with one or more protrusions 350.

[0131] In alternative embodiments, the deformable diaphragm 300 further comprises a bellows shape, a suction cup shape, protrusions, recesses, ridges, grooves, textures, holes, cavities, different thicknesses, or is formed of different materials, or further comprises a combination of diaphragms.

[0132] The pressure mechanism 600 is configured to change properties within the suction compartment 200. In a preferred embodiment, the pressure mechanism 600 is in fluid communication only with the suction compartment 200. In an alternative embodiment, the pressure mechanism 600 may be configured to change properties within both the suction compartment 200 and the diaphragm compartment 100. In a further alternative embodiment, the pressure mechanism 600 is in fluid communication with the diaphragm compartment 100 relative to the suction compartment 200, so that any changes in the suction compartment 200 directly affect the diaphragm compartment 100. For example, if the pressure mechanism 600 depressurizes the suction compartment 200, it will pressurize the diaphragm compartment 100.

[0133] Figure 1A is an exemplary embodiment of the present invention, showing a suction compartment 200, a membrane compartment 100, a deformable membrane 300, a suction wall 500, a membrane wall 510 and an opening 400 to the environment. Figure 1A Also shown are a pressure mechanism 600 for varying the pressure within the suction compartment 200 , and a diaphragm pressure mechanism 650 for varying the pressure within the diaphragm compartment 100 , resulting in a change in the shape of the deformable diaphragm 300 . Figure 1B A suction wall 500 is shown having a curved shape. Figure 1C The opening 400 is shown having a flared or funnel shape, increasing the surface area of ​​the seal formed by the deformable membrane 300 when positioned adjacent to the object 900 .

[0134] Figures 2A-2F Various embodiments are shown, which are shown from a bottom perspective, where the suction compartment and the membrane compartment 200, 100 are oriented in various configurations in different shapes. Figure 2A The preferred embodiment described above is shown, and Figure 2B An alternative embodiment is shown in which the suction compartment 200 is exchanged with the membrane compartment 100 . Figure 2C An alternative embodiment is shown in which the membrane compartment 100 is positioned adjacent to the suction compartment 200 . Figure 2D An alternative embodiment is shown comprising a plurality of membrane compartments 101, 102, 103 surrounding the suction compartment 200. In this embodiment, the membrane compartments 101, 102, 103 may comprise their own membrane 300 or a single membrane 300 of which the compartments share a portion. Figure 2E An alternative embodiment comprising a plurality of suction compartments 201 , 202 , 203 within the membrane compartment 100 is shown. Figure 2F An alternative embodiment comprising a ring 199 connecting the suction compartment 200 and the membrane compartment 100 is shown.

[0135] Figures 3A-3FVarious embodiments are shown, which are shown from a front view and / or a front cross-sectional view, wherein the suction compartment 200, the membrane compartment 100 and the deformable membrane 300 are oriented in various configurations in different shapes. Figure 3A and Figure 3C The suction compartment 200 is shown positioned within the membrane compartment 100, and Figure 3B A suction compartment 200 positioned on one side of the membrane compartment 100 is shown. Figure 3D and Figure 3E A suction compartment 200 is shown as a thin conduit for generating suction. Figure 3F A deformable diaphragm 300 having a variable thickness is shown.

[0136] Figure 4A A single pressure mechanism 600 is shown positioned above the suction compartment 200 . Figure 4B A single negative pressure source is shown in the form of a piston 610 positioned within the suction compartment 200 for increasing or decreasing the pressure within the suction compartment 200 . Figure 4C A suction compartment 200 is shown having a flat suction wall 500 covering the central opening 400 of a deformable diaphragm 300, and a pressure mechanism 600 in the form of a force 620 applied to the inner wall 500, pulling on the inner wall so that the volume of the suction compartment 200 increases and its pressure decreases, as long as its opening is sealed relative to the environment.

[0137] Figure 5 and Figures 6A-6E are exemplary embodiments showing how the shape and position of the deformable diaphragm 300 can be manipulated by changes in the diaphragm compartment 100, changes in the suction compartment 200, or by movement of structural elements forming the compartments 100, 200. More specifically, the shape and position of the deformable diaphragm 300 can be manipulated using one or more of the following: a pump, a compressor, a Venturi system, a valve, a material capable of physically or chemically absorbing a fluid, an evacuated volume of a space, a volume of a space containing a pressurized fluid, a piston 610, one or more actuation mechanisms 640 operating on mechanical, electromechanical, pneumatic, hydraulic, electrical, magnetic, piezoelectric, shape memory, electromagnetic, electrostatic, thermal, acoustic, chemical or other actuation principles that displace and / or deform the diaphragm 300 and / or structural elements (all of which form part of the present invention), a system that displaces a substance within the diaphragm compartment 100, or a force 620 of the suction wall 500 in the form of a flat element applied to the opening of the sealed compartment 200.

[0138] exist Figure 5In the embodiment, the deformable diaphragm 300 is moved by pressurizing or depressurizing the substance in the diaphragm compartment 100 with the help of the diaphragm pressure mechanism 650.

[0139] Fig. 6A shows the change in shape of the deformable membrane 300 caused by moving the suction wall 500 by means of the actuation mechanism 640, Figure 6B shows the changes caused by moving the diaphragm wall 510 by means of a plurality of actuation mechanisms 640, Figure 6C The changes caused by moving the two walls 500 , 510 by means of a plurality of actuation mechanisms 640 are shown. Fig.6D An embodiment is shown in which a single actuation mechanism 640 can independently move walls 500, 510, while Fig. 6E The suction wall 500 is shown moving relative to and opposite to the diaphragm wall 510 .

[0140] Figure 7 An embodiment is shown in which the actuation system 630 operates similarly to the pressure mechanism 600, but the actuation system 630 is connected to both compartments 100, 200. The actuation system 630 may include a compressor, a Venturi system, a vacuum generator, or a combination of these, and the actuation system 630 is in fluid communication with the diaphragm compartment 100 relative to the suction compartment 200. Here, the actuation system 630 will draw air from the suction compartment 200, compress the air, and deliver it to the diaphragm compartment 100. Conversely, the actuation system 630 can also move air from the diaphragm compartment 100 to the suction compartment 200. In alternative embodiments, valves may be used in either or both of the compartments 100, 200 to regulate their pressures.

[0141] Figures 8A-8C 9 shows the suction effect when the present invention approaches an object 900 that does not have a smooth surface. Figure 8B In the embodiment, the suction compartment 200 is depressurized, the effectiveness of the seal may be limited due to the uneven surface of the object 900, and therefore, the gripping force and the suction force are also reduced. Figure 8C The benefits of changing the shape of the deformable membrane 300 are shown. Here, the seal is enhanced by conforming the deformable membrane 300 to the object 900, thereby improving the suction effect and reducing potential leakage. The present invention will be particularly applicable to objects where the suction cup may not form a desired seal. Examples include shrink-wrapped objects, objects with rough surfaces, objects with corners, and other objects with uneven or irregular surfaces.

[0142] Figures 9A-9CIt shows how the present invention can improve gripping by friction in addition to suction. More specifically, by conforming to the shape of the object 900 having a vertical tip, the deformable membrane 300 will generate additional friction (especially when the gripping action generates a shear component). Fig. 9B It is shown how the suction force is insufficient for these types of objects 900, where a seal cannot be easily formed. Fig. 9C The deformable membrane 300 is shown in direct contact with the vertical tips and conforming to their shape. This will allow the deformable membrane 300 to grip the object 900 by friction. These friction forces will combine with the suction forces if a seal is formed. If the suction is ineffective (e.g., a poor seal), friction will be the primary holding force.

[0143] Fig.10 An embodiment is shown in which the deformable diaphragm 300 is attached to the edge of the wall 510 at the edge of the suction wall 500. Here, the sensor 10 is used to determine various characteristics of the device and the object 900. In a preferred embodiment, the sensor 10 is configured to monitor the pressure applied by the deformable diaphragm 300 to the object 900. Here, the sensor 10 also includes a strain sensor and a pressure sensor that measures the absolute pressure or pressure difference within the suction compartment 200, and may also include a strain sensor and a pressure sensor that measures the tension of the deformable diaphragm 300. Other sensors 10 may also be used to control the pressure change of the diaphragm compartment 100, and other sensors 10 include pressure sensors. In addition, the same or multiple sensors 10 can be used to control the pressure applied by the diaphragm 300 and the pressure in the suction compartment 200.

[0144] Other types of sensors 10 can also be used to directly or indirectly monitor the movement of the diaphragm 300, the interaction between the diaphragm 300 and the object 900, the strength of the gripping force, and the presence of the object 900. These sensors include distance sensors, cameras, optical fibers, touch sensors, and infrared sensors, and this information can be used to actively or automatically control the compartment pressure change action and the diaphragm 300. The same or different types of sensors 10 can be used to identify the features of the object that can be easily grasped. These features include its shape, material, porosity, angle, flatness, concavity, convexity, being wrapped in a bag, etc. The sensor 10 can also identify specific objects and grasp them using predetermined parameters.

[0145] Figures 11A-11HA method is shown, which includes manipulating at least one diaphragm 300 of a diaphragm compartment 100 to fit with an object 900, and generating a pressure change between the object 900 and the suction compartment 200. It should be noted that the action of fitting the diaphragm 300 can be performed before, after or simultaneously with the pressure change action. The action of fitting and the pressure change action can be a function of time, including a step function, a ramp, an exponential function, or can take the shape of other waveforms. These functions can be continuous, discontinuous or discrete. The distance between the compartments 100, 200 and the object 900 can be increased or decreased by moving the suction compartment 200, the diaphragm compartment 100 and / or due to the pressure change of the diaphragm compartment 100, resulting in a change in the shape of the diaphragm 300.

[0146] In an alternative embodiment, the relative movement of the compartments 100, 200 is obtained by at least one actuation mechanism 640. Such an actuation mechanism 640 can be implemented using mechanical, electromechanical, pneumatic, hydraulic, electrical, magnetic, piezoelectric, shape memory, electromagnetic, electrostatic, thermal, acoustic, chemical or other actuation principles. The actuation mechanism 640 can move the diaphragm compartment 100, the suction compartment 200 or both.

[0147] In another embodiment, the properties of the diaphragm 300 are actively changed. Such changes can be obtained in a variety of ways, including but not limited to: changing one or more properties of the fluid embedded in or passing through the conduit in the diaphragm, such as pressure, temperature, pH, flow rate, viscosity, density and composition, changing the phase of the material of the diaphragm or the material embedded in the diaphragm, changing the temperature of the diaphragm or the material embedded in the diaphragm, changing the magnetic properties of the material of the diaphragm or the material embedded in the diaphragm, changing the electrostatic properties of the material of the diaphragm or the material embedded in the diaphragm, changing the electromagnetic properties of the material of the diaphragm or the material embedded in the diaphragm.

[0148] In another embodiment, the device includes at least one actuation system for performing at least one of the following actions: changing the pressure in at least one compartment having at least one opening, changing the pressure in at least one compartment having at least one diaphragm or a portion of a diaphragm, changing the shape of at least one diaphragm or a portion of a diaphragm, changing the relative position of at least two compartments, changing the orientation of at least one compartment relative to a structural element of an adaptable suction device, changing the position of at least one compartment, changing the properties of a diaphragm, changing the properties of a material or a portion of a material in at least one compartment, attracting objects using electrostatic forces, attracting objects using van der Waals forces, attracting objects using magnetic forces, attracting objects using electromagnetic forces, and attracting objects using nuclear forces.

[0149] Figure 12A-14 as well as Figure 15-17 A practical implementation of an embodiment of the present invention is shown, wherein Figure 15-17Unnecessary details have been removed for clarity. Figure 15-17 The embodiment shown comprises a pressure mechanism 602, which may be a pump, a Venturi system, a material capable of physically or chemically absorbing a fluid, an evacuated volume of a space, a piston 610 or other principles of negative pressure generation, a diaphragm compartment 100 surrounded by a diaphragm 300, a diaphragm wall 510, a suction wall 500, a suction compartment 200 delimited from the diaphragm compartment 100 by the suction wall 500, and two actuating mechanisms 641 and 642, each of which comprises a stationary part 643 and 644 and a movable part 645 and 646. The stationary parts 643 and 644 of the two actuating mechanisms and the pressure mechanism 602 are fixed to the frame structure 590. The wall 510 of the diaphragm compartment 100 is attached to the movable part 645 of the actuating mechanism 641.

[0150] The suction wall 500 defining the suction compartment 200 takes the form of a tube that can slide linearly within a small range relative to a movable part 644 of another actuating mechanism 642. The other end of the suction wall 500 passes through a hole 511 in the wall 510 (a rod-shaped seal is applied to the hole to prevent leakage between the diaphragm compartment 100 and the environment) and is attached to the diaphragm 300. Therefore, the relative position between the diaphragm compartment 100 and the suction compartment 200 defined by the suction wall 500 can be actively controlled by two actuating mechanisms 641 and 642, thus affecting the shape of the diaphragm 300, the shape of the diaphragm compartment 100, the shape of the suction compartment 200, and can also affect the pressure in the diaphragm compartment 100. The suction wall 500 defining the suction compartment 200 connects the pressure mechanism 602 to the opening 400 of the suction compartment 200. The diaphragm compartment 100 is sealed from the environment and filled with air. The sensor 10 is fixed to the movable part 646 of the actuation mechanism 642 to indirectly detect the interaction between the membrane 300 and the object by detecting small relative sliding movements between the suction wall 500 and the movable part 646 of the actuation mechanism 642 .

[0151] Fig.15 A rest state is shown, in which the suction wall 500 is in a position relative to the movable part 646 of the actuation mechanism 642 such that the sensor 10 is not triggered. Fig.16 1 shows a state where an object is detected, wherein the diaphragm 300 and the object 900 are in contact with each other, and the suction wall 500 is pushed upward by the object 900 relative to the movable part 646 of the actuating mechanism 642, triggering the sensor 10. At this time, the output signal from the sensor 10 can be used to activate the gripping state, such as Fig.17 Alternatively, the present invention can also be activated into the gripping state by an external command when the diaphragm 300 is in contact with the object 900 or is not in contact with the object 900 but is very close to the object 900.

[0152] Once in the gripping state, the present invention uses the following method to grip the object 900. First, the pressure mechanism 602 is turned on, so that a low pressure is formed in the suction compartment 200, applying a small suction force to the object 900. Then, the membrane wall 510 is moved toward the object 900 by the actuation mechanism 641, placing an area of ​​the membrane 300 near the edge of the suction wall 500 with the membrane 300 facing the object 900. In addition, the volume of the suction compartment 200 is reduced, resulting in an increase in the pressure of the membrane compartment 100, and thereby, causing the membrane 300 to bulge outward 301. The reduced distance between the membrane 300 and the object 900, and the bulging of the membrane 301, cause the membrane 300 to first contact the surface of the object 900, and then conform to the surface, sealing the opening 400 of the suction compartment 200, and generating pressure, friction and optional mechanical interlocking between the membrane 300 and the object 900, which helps to grip the object 900. Optionally, other attractive effects, such as van der Waals forces, electrostatic adhesion, and magnetic adhesion, may come into play or be activated at this time to further allow the object 900 to adhere to the membrane 300.

[0153] When the pressure mechanism 602 remains activated and the opening 400 of the suction compartment 200 is sealed from the environment due to the contact of the diaphragm 300 with the object 900, the pressure in the suction compartment 200 drops further, resulting in a strong suction. There may be leakage between the suction compartment 200 and the environment because the contact area of ​​the diaphragm 300 and the object 900 may not completely seal the compartment 200. Even so, as long as the leakage is below a determined threshold, the continued operation of the pressure mechanism 602 can still maintain a sufficiently strong negative pressure in the suction compartment 200, resulting in suction for grasping. This is a major advantage of the present invention compared to existing flexible grippers, which are unable to maintain suction due to the lack of a pressure mechanism 602.

[0154] Subsequently, or while the diaphragm wall 510 is still moving, the suction wall 500 is pulled away from the object 900 by the actuating mechanism 642, so that the portion of the diaphragm 300 near the suction wall 500 is further away from the object 900, which increases the volume of the suction compartment 200 and further reduces its pressure, thereby further increasing the suction. In addition, the volume of the diaphragm compartment 100 is further reduced, increasing the pressure in the diaphragm compartment 100, causing the diaphragm 300 to bulge outward more, thereby further increasing the friction and optional mechanical interlocking effect between the diaphragm 300 and the object 900, resulting in a stronger gripping force. At this point, the object 900 is firmly grasped and can be lifted and moved as needed.

[0155] In order to release the object 900, the pressure mechanism 602 is deactivated so that the suction in the suction compartment 200 is not actively maintained. Optionally, other attraction effects, such as electrostatic adhesion and / or magnetic adhesion, are turned off. The suction wall 500 and the diaphragm wall 510 are returned to their initial positions by their respective actuation mechanisms, restoring the diaphragm 300 to its initial shape and separating it from the object 900.

[0156] Figure 15-17 Shows Figure 12A-14 A more detailed implementation of the embodiment shown, which includes a pressure mechanism 602 in the form of a pressure mechanism 600, two actuating mechanisms 641 and 642, a diaphragm compartment 100 defined by the diaphragm 300, the diaphragm wall 510, the suction wall 500, the suction compartment 200 defined from the diaphragm compartment 100 by the suction wall 500, and the diaphragm 300. The pressure mechanism 600 includes two pump stages 601 connected pneumatically in series. The negative pressure generated by the pressure mechanism 600 can be continuously adjusted by adjusting the voltage applied to the pump stage 601.

[0157] Actuating mechanism 641 and 642 are in the form of two electromechanical linear actuators. Diaphragm wall 510 is connected to actuating mechanism 641. Suction wall 500 is in the form of a hollow shaft. Diaphragm 300 includes multiple layers of silicone rubber of different hardness to achieve a good balance between flexibility and durability. Threaded insert 302 is fixed to the center of diaphragm 300 to allow diaphragm 300 to be screwed to the threaded end 501 of suction wall 500 or hollow shaft. Hole 303 coaxial with threaded insert 302 passes through diaphragm 300 to serve as opening 400 of suction compartment 200 for propagating the negative pressure generated by pressure mechanism 600. Diaphragm wall 510, suction wall 500 and diaphragm 300 define diaphragm compartment 100. Suction wall 500 defines suction compartment 200. Additional flow control devices, such as valves and pumps, may be connected to the suction compartment 200 to allow additional degrees of freedom in controlling the propagation of negative pressure in the membrane compartment 200. A sensor 10 in the form of a load cell 11 is used.

[0158] All parts are attached to the frame structure 590 as follows: the center of the diaphragm 300 is screwed to the threaded end 501 of the suction wall 500 or the hollow shaft, so that air can flow from the environment into the diaphragm compartment 100 through the hole 303 on the diaphragm 300. The other end of the suction wall 500 is connected to the inlet of the pressure mechanism 600 by a barb connector 502 and a flexible tube 503, so that the hole on the diaphragm 300, the suction wall 500 in the form of a hollow shaft, the barb connector 502 and the flexible tube 503 constitute the suction compartment 200. The edge area of ​​the diaphragm 300 is fixed to the edge of the suction wall 500 by a clamp 512. The suction wall 500 or the hollow shaft passes through the hole 511 at the top of the diaphragm wall 510. A rod seal is used at the hole 511 to seal the seam between the diaphragm wall 510 and the suction wall 500, thereby sealing the compartment 100. It should be noted that a device in the form of a solenoid valve 647 is used to allow air exchange between the diaphragm compartment 100 and the environment, replenishing the diaphragm compartment 100 with air in the event of air loss due to a possible leak. Alternatively, the device may include a valve and / or a pump. Two guide shafts 591 are fixed to the top of the wall 510 and can slide in two linear bearings 592 fixed to the frame structure 590.

[0159] The end of the movable part 645 of the actuating mechanism 641 is attached to the top of the diaphragm wall 510. Therefore, the diaphragm wall 510 can be linearly moved relative to the frame structure 590 in a controlled manner. The top end of the suction wall 500 or the hollow shaft is fitted in a linear bearing 593 fixed on the beam 594. Therefore, the suction wall 500 can slide linearly relative to the beam 594. But the stroke of this sliding movement is defined by the washer 595 fitted between the barb connector 502 and the end of the suction wall 500 and the retaining ring 596 fixed to the member. The beam 594 itself can slide linearly along two linear axes 597 relative to the frame structure 590. The end of the movable part 646 of the actuating mechanism 642 is attached to the beam 594, so that the movement of the beam 594 is also controlled. The sensor 10 in the form of a load cell 11 is fixed to the beam 594 at one end, and the flexible plate 36 is fixed to its other end. The tip of the flexible plate 598 rests on the top surface of the retaining ring 596 on the suction wall 500 .

[0160] In the rest state, the load cell 11 and the flexible plate 598 hold the suction wall 500 at the lower end of its stroke. The load cell 11 signal output is processed by the electronic device 700 built into the gripper and converted into a signal indicating whether an object is detected. This signal, together with the control signal and the power supplied to the actuation mechanisms 641 and 642, the electronic device 700, the pressure mechanism 600 and the load cell 11, constitutes the electrical input and output of the present invention to the outside world, and they are all present on the electrical connector 701.

[0161] Although there are some differences, Figure 12A-14 The gripping process shown is similar to Figure 15-17 The process shown and described is generally the same. Fig. 12A and 13 In the rest state shown, both actuating mechanisms 641 and 642 are deactivated, pressure mechanism 600 is deactivated, and solenoid valve 647 is closed. Diaphragm wall 510 is at the top of the stroke, and beam 594 is at the bottom of the stroke. At the beginning of the gripping cycle, upon contact with object 900, object 900 pushes diaphragm 500 and suction wall 500 upward together with retaining ring 596. Since beam 594 is fixed to the tip of movable part 646 of actuating mechanism 642, beam 594 cannot move with suction wall 500. Therefore, retaining ring 596 presses against flexible plate 598, which in turn presses against load cell 11, so that the presence of object 900 is detected.

[0162] When the presence of the object 900 is detected or an external gripping command is received, the external controller or operator sends a reverse control signal to activate the present invention. Specifically, the diaphragm wall 510 is first lowered by the actuating mechanism 641, and the pressure mechanism 600 is opened, so that the area of ​​the diaphragm 300 near the edge of the diaphragm wall 510 is pushed toward the object 900, while reducing the volume of the diaphragm compartment 100. This increases the air pressure in the diaphragm compartment 100 and causes the diaphragm 300 to bulge outward, conforming to the shape of the object and sealing the opening 400 of the suction compartment 200. When the pressure mechanism 600 is opened, the suction compartment 200 is evacuated by the pressure mechanism 600. Therefore, friction, suction and possible mechanical interlocking are caused between the diaphragm 300 and the object 900. Subsequently or simultaneously, the suction wall 500 or the hollow shaft is lifted by another linear actuator 642, bringing the area of ​​the membrane 300 close to the attachment point of the suction wall 500 thereto, further increasing the suction, friction and possible mechanical interlocking effect for gripping.

[0163] At this point, if a small amount of air leaks from the environment into the suction compartment 200, the pressure mechanism 600 can keep the negative pressure in the suction compartment 200 strong enough to maintain suction. This is a major advantage of the present invention compared to existing flexible grippers, which are unable to maintain suction due to the lack of a negative pressure generating mechanism such as the pressure mechanism 600. The present invention will now firmly grip the object 900. In order to release the object 900, the suction wall 500 is lowered by the linear actuation mechanism 642, and the pressure mechanism 600 is deactivated. Afterwards or simultaneously, the diaphragm wall 510 is withdrawn upward to separate the diaphragm 300 from the object 900. At the same time, the solenoid valve 647 is briefly opened to balance the pressure between the diaphragm compartment 100 and the environment, and then the solenoid valve 647 is closed again. This ends the gripping cycle.

[0164] exist Fig.18 and Fig.19 Another embodiment of the present invention is shown in Fig.18 The device is shown in a rest position, while Fig.19 The device is shown in a gripping state. Figure 15-17 The embodiment shown differs in that it has only one actuation mechanism 642 attached to the suction wall 500, and the diaphragm wall 510 is attached directly to the frame structure 590. As a result, this embodiment is similar to Figure 15-17 The embodiment of the present invention works in the same manner as in the embodiment of the present invention, except that in order to bring the diaphragm 300 close to the object 900, the entire device must be moved toward the object 900 at a set speed, and the suction wall 500 needs to be retracted away from the object 900 at the same speed by the actuating mechanism 642 to prevent it from being squeezed into the object 900. In addition, the sensor 10 is fixed to the tip of the suction wall 500, and the sensor 10 is configured to directly detect the presence of the object 900 once the diaphragm 300 contacts the object 900, and the output of the sensor 10 can be used to trigger the grasping operation of the present invention. Non-contact sensors 10 that directly detect the presence of the object 900 can also be used, such as Fig. 20 As shown, alternatively, the sensor 10 that indirectly detects the interaction between the membrane and the object (and therefore the presence of the object) can be used with Figure 15-17 The embodiment shown is integrated in the same way as Fig.21 The adaptable suction device shown.

[0165] exist Fig. 22 Another embodiment of the present invention is shown in Figure 18-20 The illustrated embodiment is similar, except that the suction compartment 200 is arranged differently, with multiple branches 201 reaching different openings 400 on the diaphragm 300, and the suction wall 500 is fixed to the frame structure 590, while the diaphragm wall 510 is attached to the actuation mechanism 641. Since the suction wall 500 is fixed to the frame structure 590, in order to keep the diaphragm 300 and thus the suction wall 500 away from the object 900, it is necessary to keep the entire device away from the object 900, while the actuation mechanism 641 is activated to push the diaphragm wall 510 relative to the suction wall 500 toward the object 900, thereby maintaining the relative position between the diaphragm wall 510 and the object 900.

[0166] exist Fig.23 Another embodiment of the present invention is shown in Fig. 20 The illustrated embodiment is similar except that the suction wall 500 defining the suction compartment 200 comprises a flexible tube 503 and the movable part of 646 of the actuation mechanism 642 is directly connected to the diaphragm 300, providing a force 620 to displace it.

[0167] exist Fig.24 and Fig.25Another embodiment of the invention is shown in which an alternative form of actuation mechanism is used. Specifically, an additional diaphragm 360 forms part of the boundary of the diaphragm compartment 100, and the space above the diaphragm 360 and bounded by it and the diaphragm wall 510 is another compartment 110. Compartment 110 is filled with a fluid. A suction wall 500 in the form of a freely hanging shaft is attached to the diaphragms 300 and 360, and a hole 511 with a rod-shaped seal passes through the top of the wall 510. The diaphragm compartment 100 is also filled with a fluid, which can be the same as or different from the fluid filling the compartment 110. When the device is in rest, the suction wall 500 or the shaft is placed in a fixed position using a device such as a spring 648, so that both the diaphragm 300 and the diaphragm 360 are in a specific shape in the rest state, such as Fig.24 shown.

[0168] An actuation mechanism 660 in the form of a pressure source or a fluid source / sink is connected to the compartment 110 via a channel 661. By changing the pressure and / or amount of fluid in the compartment 110, the shape of the compartment 110 can be changed, thereby forcing the suction wall 500 to move and forcing the diaphragm 300 to change shape to grasp the object 900. At the same time, the pressure mechanism 602 can evacuate the compartment 200 to provide a pressure drop such as Fig.25 As in the previous embodiments, one or more sensors 10 may be incorporated to detect the presence of an object 900 within the reach of the present invention. Such sensors 10 may be incorporated into the Fig.24 or Fig.25 Optional flow control components 662 (eg, valves to the environment), pressure sources, or fluid sources / sinks may also be incorporated into the diaphragm compartment 100 to compensate for leakage, or to provide additional degrees of freedom for controlling the operation of the present invention.

[0169] exist Fig.26 and Fig. 27 , another embodiment of the present invention is shown, which includes a pressure mechanism 602, a diaphragm compartment 100 defined by a diaphragm wall 510, a suction wall 500, a diaphragm 300, and two or more actuation mechanisms 642 and 649. The diaphragm wall 510 is connected to a frame structure 590 so that the diaphragm wall 510 can be rotated relative to the frame structure, for example, by a joint 599, and the entirety or a portion 504 of the suction wall 500 is non-rigid so that the orientation of the diaphragm wall 510, the suction wall 500 and the diaphragm 300, and thus the orientation of the diaphragm compartment 100 and the suction compartment 200 can be adjusted by one or more actuation mechanisms 649. Fig.26 and Fig. 27 An embodiment is shown in which the diaphragm compartment 100 and the suction compartment 200 move in different directions. The joint 599 may also include a ball joint, a universal joint, or a bellows.

[0170] exist Fig.28, another embodiment of the present invention is shown in which at least two actuating mechanisms 642 are used to change the shape of one diaphragm 300 by means of two suction walls 500. Two pressure mechanisms 602 are connected to two suction compartments 201 and 202 so that the deformation of the diaphragm 300 and the suction strength in the suction compartments 201 and 202 can be adjusted independently.

[0171] exist Fig.29 , another embodiment of the present invention is shown in which an actuating mechanism 642 is used to change the shape of at least two diaphragms 300 by means of a branched suction wall 500. The two diaphragms 300 may have different positions, orientations, configurations, sizes, shapes, and they may be located in different diaphragm compartments 100 or the same diaphragm compartment 100.

[0172] exist Fig.30 Another embodiment of the present invention is shown in Fig.15 The embodiment shown is the same, except that the diaphragm compartment 100 is filled with a substance 60, which includes one or a combination of the following materials: a fluid, a granular material, a phase change material, a compressible solid, or other materials that enable such a compartment to change shape. As a result, the substance 60 can be affected to cause one or more of its following properties to change: hardness, phase, and volume. And the actuation mechanism 61 is used to cause the change in the property of the substance 60 in the diaphragm compartment 100 by at least one of the following changes within the diaphragm compartment 100: temperature change, pressure change (including the generation of negative pressure), electric field change, magnetic field change, vibration. If the type of change is the generation of negative pressure, a separate pressure mechanism 600 or the same pressure mechanism 600 connected to the suction compartment 200 can be used. If the type of change in the property of the substance 60 is a change in hardness, then during the gripping process, in addition to the above-mentioned changes with respect to Figure 15-17 In addition to the operation sequence, the actuation mechanism 61 is actuated to harden the substance 60 in the membrane compartment 100, thereby restricting the shape of the membrane 300 to a fixed shape that fits the shape of the object 900. Such a fixed shape of the membrane can cause friction and mechanical interlocking effects for grasping the object 900.

[0173] exist Fig.31 Another embodiment of the present invention is shown in FIG. 5 , which is similar to the embodiment of the present invention except that the suction wall 500 and the diaphragm wall 510 are actuated by a single actuation mechanism 640 including a stationary part 651 and a movable part 652. Fig.15The embodiment shown is the same. Specifically, the stationary part 651 of the actuating mechanism is fixed to the frame structure 590. The movable part 652 of the actuating mechanism, the intermediate part 594 to which the suction wall 500 can move in a small range and the diaphragm wall 510 are connected to the rod 581 by three connecting rods 582, 583 and 584. The rod 581 can rotate around the pivot 580 fixed to the frame structure 590. When the movable part 652 of the actuating mechanism is extended relative to the stationary part 651, the rod 581 is pushed by the connecting rod 582 to rotate clockwise around the pivot 580. As a result, the connecting rod 583 pulls the intermediate part 594 upward relative to the frame structure 590, and then the suction wall 500, and the connecting rod 584 pushes the diaphragm wall 510 downward relative to the frame structure 590. Conversely, when the movable component 652 of the actuation mechanism is retracted relative to the stationary component 651 , the rod 581 rotates counterclockwise about the pivot 580 , lowering the wall 500 and raising the wall 510 relative to the frame structure 590 .

[0174] In another embodiment, the shape of the diaphragm 300 is changed in order to obtain a variable suction cup effect. Specifically, the method consists in increasing or decreasing the perimeter of the diaphragm 300 in contact with the object 900 to obtain different levels of suction intensity. In fact, force is pressure multiplied by area. By increasing the perimeter, the area also increases, and for a constant pressure value, the force also increases. It should be noted that although the perimeter is usually closed, it can be an open line or a series of segments with an incomplete seal.

[0175] One way to implement such a variable suction cup is to change the pressure or shape of the diaphragm compartment 100. Changing the shape of the diaphragm 300 can be achieved using the pressure mechanism 600 and / or the actuation system 630, actuation mechanism 640 and diaphragm actuation mechanism 650 as described in another embodiment or other methods. Fig.32A and Fig.32B The embodiment of this example is shown. Due to the expansion of the membrane, for example, Fig.32A The distance 'a' is less than Fig.32B The distance 'b' in .

[0176] Different embodiments can be obtained by varying the relative movement of the structural components defining the compartments 100 and 200. A related embodiment consists in varying the distance of the inner and outer edges of the membrane 300 from the object 900. Fig.33A and Fig.33B An example of such an embodiment is shown. Due to the change in the relative distance between the suction wall 500 and the membrane wall 510 and the object 900, Fig.33A The distance 'a' is less than Fig.33B The distance 'b' in .

[0177] FIG. 34 shows an example in which the suction wall 500 is moved and the diaphragm 300 is deformed so that Fig.34A The distance 'a' in FIG. 34( b) is different from the distance 'b' in FIG. 34( b).

[0178] In yet another embodiment, a plurality of different compartments and a membrane are used, wherein relative movement of structural components defining the different compartments changes the contact perimeter between the membrane and the object. Fig.35A and Fig.35B An embodiment is shown in which the walls 500, 510 and 520 defining the three compartments are at different distances from the object 900. Such different distances allow Fig.35A The distance 'a' in can be less than Fig.35B A single diaphragm or different diaphragms (diaphragms 300 and 310 are shown in FIG. 35 ) may be used.

[0179] Combinations of the above-mentioned embodiments can be used to produce a variable suction cup effect, for example: the compartments do not move and the shape of the membrane changes, the compartments do not move and the pressure in at least one compartment changes, at least one compartment moves, and the pressure in at least one compartment changes and at least one compartment moves.

[0180] By using at least one actuation mechanism and / or by varying the force that the device exerts on the object 900, a variable suction cup may be obtained.

[0181] In another embodiment, the device can increase or decrease the effectiveness of the seal by changing the shape of the membrane 300. For example, comparing Fig.36A and Fig.36B , a better seal can be obtained by increasing the contact surface area between the diaphragm 300 and the object 900.

[0182] In another embodiment, the device causes the object 900 or a portion of the object 900 to move into the device. Such movement can be caused in a variety of ways, including relative movement of the compartments 100, 200, using the actuation mechanisms 630, 640, 650, 660, or other ways. Such movement can also be caused by pressing the device against the object 900.

[0183] Depending on the shape, material and properties of the object, this relative motion can help increase the friction between the diaphragm 300 and the object 900, or improve the seal between the diaphragm 300 and the object 900, or both increase the friction between the diaphragm 300 and the object 900 and improve the seal between the diaphragm 300 and the object 900. Fig.37A and Fig.37BA schematic representation of a particular case in which the movement of the suction wall 500 facilitates the inward movement of the object 900 is shown. Alternative embodiments may be obtained by moving the wall 510 or moving the walls 510 and 500 sequentially or simultaneously. This embodiment is particularly suitable for objects 900 in bags, such as plastic bags, perforated plastic bags, mesh bags; or small objects, such as pens, nuts, bolts; or objects with a spiked shape, such as a brush; or soft objects, such as a sponge. This inward movement may facilitate grasping, rubbing, clamping, suction or other means to apply force to the object.

[0184] In another embodiment, the actuation mechanism moves the diaphragm 300 inwardly. In another embodiment, the force generated by the interaction between the device and the object 900 can cause the object 900 to move into the device.

[0185] In another embodiment, the device includes a protrusion 350 that helps engage with the object 900. These protrusions can have the shape of claws, ridges, spikes, bumps, hooks, cubes, balls, pins, ridges, textures, edges, or have other shapes. The protrusion can be a complex shape, which can be connected to other elements of the device or can be an integrated part of these other elements. The diaphragm can have such a protrusion. The protrusions can be evenly distributed or only cover a part of the diaphragm. They can be randomly distributed on the diaphragm 300. The protrusion can be made of the same material as the diaphragm 300 (for example, the diaphragm has a protrusion) or a different material. The diaphragm 300 near the protrusion can be thicker than the rest of the diaphragm 300 or made of a different material to support the stress that these protrusions may generate.

[0186] Figures 38A-38H An example of protrusions on the membrane 300 is shown. Fig.39A and Fig.39B The protrusions 350 are shown without being connected to the membrane 300. The protrusions are particularly suitable for assisting engagement with objects 900 that are porous or have shapes or mechanical properties that facilitate the protrusions to improve grip. Such objects 900 may include plastic mesh bags, textile-based objects, sponges, bricks, pumice-based objects, etc. Fig.40A and Fig.40B Some examples of protrusions improving grip are shown.

[0187] The membrane 300 can have variable stiffness and shape. For example, it can take the form of a suction cup, and its cover can be extended to form a thin membrane 300. In another embodiment, the membrane 300 has a variable thickness, such as Figure 3F As shown in the last picture.

[0188] exist Fig.41Another embodiment of the diaphragm 300 is shown in FIG. 1 , in which the diaphragm 300 is a unitary structure. The composition of the diaphragm 300 may be uniform, or may vary continuously from one portion of the diaphragm 300 to another portion. Optional means for attaching to a gripping device, such as a threaded insert 302, may be added.

[0189] exist Fig.42 Another embodiment of a diaphragm 300 is shown in FIG. 1 , in which the diaphragm 300 includes regions made of different materials with distinct boundaries between the regions. Fig.21 In the embodiment of the present invention, the diaphragm body 354 and the protrusion 355 for mating with the threaded insert are made of two different materials with a distinct boundary 356 therebetween.

[0190] exist Fig.43 Another embodiment of a membrane is shown in FIG. 1 , in which one or more holes 357 and / or cavities 358 are built into the membrane. The hole 357 can be used as part of the compartment 200. The hole 357 can also be used for other purposes, such as structural purposes.

[0191] exist Fig.44 360, and / or grooves 361 are constructed into the diaphragm 300. In addition, the thickness of the diaphragm 300 varies between different regions 366, 367. The surface texture of the diaphragm 300 at region 366 may also be different from the surface texture at region 367.

[0192] In another embodiment, the device has a diaphragm 300 having at least one protrusion in at least one portion, and the gripping is performed without the use of suction. In fact, it should be noted that the presence of the protrusion can generate enough friction, interlocking or other mechanical forces so that suction is not required. In this case, the device can include a single compartment with a diaphragm 300. Such a configuration can be used in the case where there is only an object suitable for being gripped using a protrusion.

[0193] Fig.45A and Fig.45B An embodiment is shown in which force is applied to the membrane 300 so that the protrusions engage with the object 900 and grasp it. Although suction is not used, the device will Fig.40A and Fig.40B The embodiment shown operates in a very similar manner. In fact, in Figure 45, the suction that produces the pulling force is replaced by a force that pulls the diaphragm 300 and enables the protrusion to engage with the object 900. In more general terms, the diaphragm 300 is subjected to a force having a component in the opposite direction to the object 900.

[0194] In another configuration, the diaphragm 300 slides against the object 900. Such sliding enables the protrusion to engage with the object 900. Such sliding includes friction.

[0195] In another configuration, two or more membranes or parts of the same membrane move in opposite directions relative to each other. Thus, a protrusion of one membrane will pull the object in the opposite direction to the protrusion of another membrane. Fig.45B An example is shown where portions of the same membrane are moved towards the central axis of the device.

[0196] In another configuration, the diaphragm 300 does not move, but applies forces to the object 900 in opposite directions. Fig.45B An example of such a situation is shown.

[0197] In another embodiment, at least two protrusions exert forces on the object 900, the forces having components in opposite directions to each other.

[0198] A grasping method in which at least a portion of a diaphragm 300 having at least one protrusion contacts an object 900. The protrusion interacts with the object 900 such that the protrusion creates an interlock or other mechanical force (including friction) that engages the object 900. Such interlocking may be aided by movement of the diaphragm 300 or by a force applied by the diaphragm 300 to the object 900.

[0199] In another embodiment, the device includes at least one separator element 330 to prevent components of the device from blocking the suction compartment 200. For example, the membrane 300 may form a blockage 320 that restricts the flow of air / fluid, resulting in reduced suction. Such a blockage may be generated, for example, by pressurizing the membrane compartment 100, by pressing the suction compartment 200, by passing an object 900, or for other reasons. Fig.46A An example of a plugging portion 320 is shown, Fig.46B A separator element 330 is shown. The separator element 330 may be perforated, porous or airtight / waterproof, mechanically flexible or rigid, or made of different components (e.g., sliding components). The separator element 330 may be an integral part of a compartment, a diaphragm, an actuating mechanism, a protrusion, or other components of the device.

[0200] In another embodiment, the device comprises at least one suction cup 340. Such a suction cup can be a separate element or an integrated part of the membrane 300. The suction cup 340 can be connected to the suction wall 500 or the membrane wall 510 or other parts of the device. Figures 47A-47D Examples are shown in which the suction cup 340 is as shown in FIG. Fig.47A and 47B Attached to the suction wall 500 as in Fig.47C Attached to the membrane wall 510 as in Fig.47D The suction cups are attached to the deformable membrane 300 and the membrane wall 510 as in FIG. Using multiple suction cups of different sizes can be used to seal small objects as well as large objects.

[0201] Figures 48A-48C Examples are shown in which the suction cup 341 is attached to the membrane wall 510 and the suction cup 342 is attached to the suction wall 500. Such a configuration is particularly suitable for grasping objects 900 of different sizes and shapes. For example, when the air / fluid flow in the suction compartment 200 generates suction, the suction cup 341 can be used to grasp objects 900 with large surface areas, such as Fig.48A Diaphragm 300 can grasp irregularly shaped objects 900 (in which suction cups 341 and 342 may fail), such as Fig.48B Suction cup 342 can grab small flat objects, such as Fig.48C As shown. The suction cup can be made of different materials, shapes, and have different properties. For example, the suction cup can be round, oval, square, rectangular, or other geometric shapes. The suction cup can be made of gel, polymer, or other materials. The suction cup can be a perforated membrane. The suction cup can be a perforated block. The suction cup can be a tube, a truncated cone, have a symmetrical or asymmetrical geometry, or have other shapes.

[0202] In another embodiment, a method for grasping an object is provided, wherein the suction generated in the suction compartment 200 is used for grasping by using a combination of a membrane 300, inner suction cups and outer suction cups.

[0203] In another embodiment, the separator element 330 and the suction cup 340 are constructed as a single component. Such a component can be distinct or an integral part of the membrane 300. It can be porous or airtight / watertight.

[0204] In another embodiment, at least one bellows 360 is used. Such bellows has the primary function of helping the device conform to the object 900. Fig.49A and Fig.49B An example with a bellows is shown. The bellows can have different shapes. Its cross section can be circular, oval, rectangular or other shapes, including irregular shapes. Different cross sections along the longitudinal axis can have different shapes. The bellows can have the shape of a sphere or other geometric shapes, including irregular geometric shapes or geometric shapes with one or more symmetric parts.

[0205] In another embodiment, the separator element 330 , the suction cup 340 and / or the bellows 360 have a protrusion 350 .

[0206] In another embodiment, multiple suction compartments are used, wherein the deformable membrane further comprises multiple holes, the multiple holes are configured to receive the multiple suction compartments, so that any pressure changes generated in the multiple suction compartments adjust the gripping force or suction force. Alternatively, multiple membrane compartments are used, wherein the deformable membrane further comprises multiple deformable membranes defining the multiple membrane compartments.

[0207] In another embodiment, at least two of the following elements are combined: at least one diaphragm; at least one element for preventing blocked inward flow; at least one suction cup; at least one bellows; at least one compartment; at least one actuation mechanism; and at least one protrusion.

[0208] In another embodiment, the same device can be configured in a variety of ways, including but not limited to: the suction cup 342 grabs the object ( Fig.50 ); the suction cup 341 grabs the object ( Fig.51 ); the membrane 300 fits the object and grabs it ( Fig.52 ); at least one protrusion 350 engages with the object ( Fig.53 ); and the diaphragm pulls the object inward toward compartment 200 ( Fig.54 ). This embodiment includes combinations of the foregoing and other embodiments. It should be noted that some of the above configurations may overlap. For example, the second configuration and the fifth configuration may be the same, and the device may behave differently depending on the properties of the object 900. Note that in Figure 51-54 A different configuration of the same device is shown in . Note that the diaphragm 300, suction cup 342, protrusion 350 and bellows can all be combined in a single component. Figure 51-54 A device is shown in which the aforementioned elements can be conveniently combined in a single element if desired. Note that such elements can have different thicknesses, roughnesses, and be made of different materials.

[0209] In another embodiment, an actuation mechanism is used to expose the protrusion 350 to an object. The actuation mechanism can also be used to retract the protrusion.

[0210] In another embodiment, a method is proposed, wherein the following stages are considered: the pressure mechanism 600 creates a low pressure in the suction compartment 200; a seal is formed with the object 900 by means of the suction cup 342, wherein the suction cup may be an integral part of the diaphragm 300, having a bellows shape 360 ​​and / or a protrusion 350; the suction cup 341 creates a seal over a larger area; the actuation mechanism helps the diaphragm 300 to conform to the object 900; the actuation mechanism exposes one or more protrusions to the object 900; the actuation mechanism retracts the protrusions to increase their efficacy; and the actuation mechanism creates an inward movement of the object. It should be noted that the method may include only one of the above-mentioned stages. These stages may be combined in various different time sequences and may also be repeated.

[0211] In another embodiment, a method for grasping objects is provided, wherein the objects are classified into at least two of the following categories: objects that are best grasped by at least one suction cup 341; objects that are best grasped by at least one second suction cup 342; objects that are best grasped by using at least one bellows 360; objects that are best grasped by at least one diaphragm 300; objects that are best grasped using at least one protrusion 350; objects that are best grasped using friction; objects that are best grasped using suction; objects that are best grasped by causing an inward movement of the object; and objects that are best grasped by surrounding the object with a diaphragm.

[0212] In another embodiment, the method for grasping an object is based on an algorithm for detecting features of an object and / or identifying the object 900. Such methods may include a lookup table, a machine learning algorithm, including random forests, support vector machines, linear discriminant analysis, neural networks, deep neural networks, or other supervised, unsupervised machine learning algorithms based on reinforcement learning, algorithms for detecting flat surfaces, algorithms for detecting edges and / or features of an object, algorithms based on object weight, or other algorithms. Such algorithms may be used to identify how best to operate the adaptable device. Figures 55A-55C The algorithm provides information to the controller of the gripper to grasp the object. Specifically, Fig.55C An example of a decision tree based on four classes is shown.

[0213] In another embodiment, a method is proposed that combines the method of using different configurations of the present invention with a method of classifying objects 900 into categories and / or a method of using an algorithm for detecting features of objects and / or identifying objects 900. The device can be reconfigured manually or automatically. In another embodiment, a failure to grasp an object informs the algorithm.

[0214] In another embodiment, a method for grasping an object 900 is provided, wherein a suction cup is used as a default grasping method, and a membrane 300 is used when the force applied by the suction cup is insufficient. Such a membrane 300 can provide a supplementary force to the suction cup or replace the use of the suction cup. For example, in the case of a mesh bag, the suction cup can pull the bag inward, but the suction cup cannot apply enough force to pick up the bag, and the use of the membrane 300 can provide the required seal and friction to perform a successful grasp. Fig.56 An example of the proposed method is shown.

[0215] The present invention is configured to operate in air, underwater and in other environments. In addition, the present invention is configured to grab one or more objects, and the suction compartment 200 can be pressurized to facilitate grabbing objects, releasing objects that have been grabbed, or pressurized for other reasons. The suction compartment 200 can take the form of a simple tube (e.g., an air line or tube) in which a gas (e.g., air) or a fluid can flow. The compartments 100, 200 can be very small or very large. The suction compartment 200 can also include a suction cup. The suction compartment 200 can also be formed by at least a portion of a diaphragm. The suction compartment 200 can be a ring. Finally, the compartments 100, 200 can be formed by the same diaphragm.

[0216] Although the above description contains the specific details about some elements, sizes and other teachings, it should be understood that embodiments of the present invention or any combination thereof can be implemented without these specific details. Specifically, although definite shape and configuration are shown, as long as diaphragm 300 helps to provide gripping force or suction, any suitable shape and configuration can be used. These details should not be construed as limiting the scope of any embodiment, but are merely examples as currently preferred embodiments. In other cases, known structures, elements and technology are not shown to clearly explain details of the present invention.

[0217] The above detailed description of the embodiments of the present invention is not exhaustive, nor is it intended to limit the present invention to the precise form disclosed above or the specific field of use mentioned in the disclosure. Although specific embodiments and examples of the present invention have been described above for illustrative purposes, various equivalent modifications are possible within the scope of the present invention as will be appreciated by those skilled in the relevant art. In addition, the teachings of the present invention provided herein may be applied to other systems, and need not be the above-mentioned systems. The elements and actions of the various embodiments described above may be combined to provide other embodiments.

[0218] Changes may be made to the invention in light of the teachings of the above "Detailed Description". Although the above description details certain embodiments of the invention and describes the expected best mode, no matter how detailed the above is presented in text, the invention can be implemented in many ways. Therefore, the implementation details can vary significantly, yet still be encompassed by the invention disclosed herein. As described above, specific terms used when describing certain features or aspects of the invention should not be considered to imply that the term is redefined herein to be limited to any specific feature, characteristic, or aspect of the invention associated with the term.

[0219] Although certain aspects of the invention are presented below in certain claim forms, the inventors contemplate the various aspects of the invention in any number of claim forms. Therefore, the inventors reserve the right to add additional claims after filing this application in order to pursue such additional claim forms for other aspects of the invention.

Claims

1. A gripping device configured to pick up, manipulate and release an object, comprising: Frame structure (590); A suction compartment (200); a suction wall (500), the suction wall (500) at least partially surrounding the suction compartment (200); Diaphragm wall (510); a suction cup (342) attached to the suction wall (500) and configured to grasp an object; at least one deformable membrane (300) configured to conform to and grasp an object; wherein the outer edge region of the deformable diaphragm (300) is fixed to the diaphragm wall (510) by means of a clamp (512); wherein the deformable membrane (300) has at least one hole (303), the hole defining an inner edge of the deformable membrane (300); wherein the inner edge of the deformable membrane (300) is attached to the suction wall (500); wherein the diaphragm wall (510), the suction wall (500) and the deformable diaphragm (300) form an at least partially sealed diaphragm compartment (100); wherein the membrane compartment (100) is filled with a substance; at least one pressure mechanism (650, 600) configured to regulate the pressure of the substance in the membrane compartment (100) or at least the pressure of the suction compartment (200); wherein the shape of the deformable diaphragm (300) is at least affected by the pressure of the substance in the diaphragm compartment (100); at least one diaphragm wall actuation mechanism (641) adapted to displace the diaphragm wall (510) relative to the frame structure (590); wherein the membrane wall (510) further comprises an aperture (511) to accommodate the suction wall (500), and wherein the suction compartment (200) is configured to move within the aperture (511); wherein the gripping device is adapted to grip objects (900) of different shapes and sizes using at least a suction cup (342), or at least a deformable membrane (300), or a combination of a suction cup (342) and a deformable membrane (300); The occurrence of the deformable membrane (300) participating in the grasping depends at least on the position of the suction cup (342) or the engagement of the suction cup (342) with the object.

2. The device according to claim 1, wherein the static state of the device is defined as a state in which the membrane wall (510) is located closest to the frame structure (590) and the suction wall (500) is located farthest from the frame structure (590); wherein the edge of the membrane wall (510) farthest from the frame structure (590) defines a plane and defines an area on the plane; wherein when the device is in a static state, the deformable membrane (300) does not intersect the region of the plane; in, When the device grasps an object (900), the deformable membrane (300) intersects the region of the plane.

3. The device according to claim 1 also includes an actuation mechanism (642), which is configured to move the suction compartment (200) relative to the frame structure (590).

4. A device according to claim 1, wherein the pressure inside the diaphragm compartment (100) is affected by at least one pressure mechanism (650), and the pressure in the suction compartment (200) is affected by at least another pressure mechanism (600), wherein the two pressure mechanisms (650, 600) are controlled independently of each other.

5. A device according to claim 1, wherein the device facilitates the movement of the diaphragm wall (510) and the suction wall (500) relative to the frame structure (590) and relative to each other, wherein the movement relative to each other also includes one part moving while the other part remains stationary, or both parts move.

6. The apparatus according to claim 1, further comprising: at least one outer suction cup (341) attached to the outside of the membrane wall (510) and surrounding the membrane wall (510); wherein the outer suction cup (341) forms a large suction cup surrounding the membrane wall (510); The gripping device is suitable for gripping objects (900) of different shapes and sizes using at least a suction cup (342), or at least a deformable membrane (300), or at least an outer suction cup (341), or any combination of a suction cup (342), a deformable membrane (300) and an outer suction cup (341).

7. The device according to claim 6, wherein the outer suction cup (341) is in fluid communication with at least a pressure mechanism (600), the pressure mechanism (600) being configured to regulate the pressure of the suction compartment (200).

8. The device according to claim 6, wherein when the at least one outer suction cup (341) contacts the object to be grasped, the at least one outer suction cup (341) defines at least one sealing area between the outer suction cup (341) and the object; wherein the shape and area of ​​at least one sealing region depends on the shape of at least one deformable membrane (300); in, When the gripping device grips the object (900), at least the suction cup (342) attached to the suction wall (500) or at least the outer suction cup (341) or at least the deformable membrane (300), or any combination of the suction cup (342), the outer suction cup (341) and the deformable membrane (300) simultaneously forms a sealing area.

9. A device according to claim 6, wherein the operation of the external suction cup (341) depends on the position of the suction cup (342) relative to the external suction cup (341), the pressure in the suction compartment (200), the pressure in the diaphragm compartment (100) and the position and shape of the deformable diaphragm (300).

10. A gripping device configured to pick up, manipulate and release an object, comprising: Frame structure (590); A suction compartment (200); a suction wall (500), the suction wall (500) at least partially surrounding the suction compartment (200); Diaphragm wall (510); A suction cup (342) attached to the suction wall (500) configured to grasp an object; at least one deformable membrane (300) configured to conform to and grasp an object; wherein the outer edge region of the deformable diaphragm (300) is fixed to the diaphragm wall (510) by means of a clamp (512); wherein the deformable diaphragm (300) has at least one hole (303), the hole defining an inner edge of the deformable diaphragm (300); wherein the inner edge of the deformable membrane (300) is attached to the suction wall (500); wherein the diaphragm wall (510), the suction wall (500) and the deformable diaphragm (300) form an at least partially sealed diaphragm compartment (100); wherein the membrane compartment (100) is filled with a substance; at least one pressure mechanism (650, 600) configured to regulate the pressure of the substance in the membrane compartment (100) or at least the pressure of the suction compartment (200); wherein the substance applies equal pressure to the diaphragm wall (510), the suction wall (500) and the deformable diaphragm (300); wherein the shape of the deformable membrane (300) is affected at least by the pressure of a substance in the membrane compartment (100); at least one diaphragm wall actuation mechanism (641) adapted to displace the diaphragm wall (510) relative to the frame structure (590); wherein the membrane wall (510) further comprises an aperture (511) to accommodate the suction wall (500), and wherein the suction compartment (200) is configured to move within the aperture (511); wherein the gripping device is adapted to grip objects (900) of different shapes and sizes using at least a suction cup (342), or at least a deformable membrane (300), or a combination of a suction cup (342) and a deformable membrane (300); The occurrence of the deformable membrane (300) participating in the grasping depends at least on the position of the suction cup (342) or the engagement of the suction cup (342) with the object.

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