End effector device and system for suction-based gripping of bagged objects

Abstract

The present invention provides end effector devices and systems for suction-based gripping of suitable bagged objects. [Solution] An end effector device and system for gripping a bagged object on a suction base, which may include a body structure having a vacuum line opening and an object engagement region, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure, the body structure comprises an internal structure defining a concave inner chamber with a chamber opening in the object engagement region, the internal structure comprises an array of inlets positioned along at least one wall of the concave inner chamber, each inlet defining an opening to the defined internal channel within the body. The body structure may also include a suction cup system with a flexible seal lip in the object engagement region, the chamber opening being positioned within the gripping region of the seal lip.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the benefits of U.S. Provisional Application No. 63 / 003,728, filed Apr. 1, 2020, which is hereby incorporated by reference in its entirety.

[0002] The present invention generally relates to the field of pick - and - place end - effectors, and more specifically, to novel and useful end - effector devices and systems for suction - based gripping of bag - packaged objects.

Background Art

[0003] Pick - and - place devices frequently use suction - cup - type end - effectors for retrieving objects. Suction - cup end - effectors are used in combination with a controlled pressure - vacuum system to establish a pressure - based seal when gripping an object for manipulation. A typical type of end - effector is a suction - cup device made of a flexible material with a series of bellows connected to the engagement side of the end - effector. These end - effectors are useful for some materials, such as rigid objects with flat surfaces, but they are not useful for all types of objects and have a low probability of success when gripping items packaged within a deformable membrane, such as a plastic or silicone bag.

[0004] Gripping and handling bagged goods is a common purpose. With the rise of e-commerce, there is a growing demand for automation involving bagged goods. However, gripping bagged items using suction cup end effectors presents many problems. One major challenge is that a loose bag membrane can slide or roll when an object is gripped. This can break the pressure-based seal that holds the item, resulting in the item falling. Material rolling can be a major problem, especially when holding bagged objects at an angle to gravity. The weight of the object applies a pulling force to the bag, in which case the bag can roll, peel downward from the surface of the suction cup, and break the seal.

[0005] In addition, many suction cup designs have thin, flexible flanges that must be deformed to conform to a flexible surface, such as a bag. However, these thin, flexible materials are prone to fracture and have a limited service life cycle.

[0006] Alternative end effectors, such as operated gripping units, may be used, but they require additional mechanisms and may present other challenges when handling bagged objects.

[0007] Dealing with bagged items presents an even greater challenge when pick-and-place devices must handle a variety of packaged items, including bagged and boxed items.

[0008] Therefore, in the field of pick-and-place end effectors, there is a need to create novel and useful end effector devices and systems for suction-based gripping of bagged objects. The present invention provides such novel and useful systems and methods. This specification also provides, for example, the following items: (Item 1) An end effector for a pick-and-place system, A body structure having a vacuum line opening and an object engagement region, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure. Equipped with, The main body structure includes a suction cup system with a flexible sealing lip in the object engagement region. The main body structure comprises an internal structure that defines a concave inner chamber with a chamber opening in the object engagement region, and the chamber opening is located within the gripping region of the seal lip. The internal structure comprises an array of inlets positioned along at least one wall of the concave inner chamber, each inlet defining an opening within the body to the defined internal channel. End effector. (Item 2) The end effector according to item 1, wherein the array of inlets comprises a first subset of inlets positioned along the wall of the internal structure opposite the defined chamber opening. (Item 3) The end effector according to item 2, wherein the array of inlets comprises at least a second subset of inlets along the second wall of the concave inner chamber, the second subset of inlets being defined in an orientation different from that of the first subset of inlets. (Item 4) The end effector according to item 3, wherein the concave inner chamber is an extended concave inner chamber having an inner chamber having a width exceeding the width of the chamber opening, and the internal structure further comprises a lip structure that at least partially defines the chamber opening, wherein a first subset of the inlets opens toward the chamber opening, and a second subset of the inlets is positioned on the lip structure and opens toward away from the chamber opening. (Item 5) The end effector according to item 1, wherein the average width of the chamber opening is less than the height of the concave inner chamber. (Item 6) The end effector according to item 1, further comprising transition air channels, each transition air channel extending outward from the inner edge of the concave inner chamber toward the seal lip. (Item 7) The end effector according to item 1, wherein the suction cup system is made of a flexible material, and the concave inner chamber is made of a rigid material and inserted into a central opening within the suction cup system. (Item 8) The end effector according to item 7, wherein the concave inner chamber comprises a set of flanges extending outward from the chamber opening, thereby forming a set of transition air channels when inserted into the central opening within the adsorption cup system. (Item 9) The suction cup system comprises a bellows forming the outer surface of the main body structure, the bellows being connected to the seal lip, the end effector as described in item 1. (Item 10) The end effector described in item 9, further comprising a rigid side plate that encloses the aforementioned bellows. (Item 11) It is an end-effector system, A first end effector, wherein the first end effector is A body structure having a vacuum line opening and an object engagement region, wherein the vacuum line opening is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure. Equipped with, The main body structure includes a suction cup system with a flexible sealing lip in the object engagement region. The main body structure comprises an internal structure that defines a concave inner chamber with a chamber opening in the object engagement region, and the chamber opening is located within the gripping region of the seal lip. The internal structure comprises an array of inlets positioned along at least one wall of the concave inner chamber, each inlet having a first end effector that defines an opening to the defined internal channel within the body, The second end effector and An end-effector system equipped with [this feature]. (Item 12) The end effector system according to item 11, wherein the first end effector and the second end effector have substantially defined object engagement areas along the same plane. (Item 13) The end effector system according to item 11, further comprising a first vacuum line coupled to the first end effector and a second vacuum line coupled to the second end effector. (Item 14) The end effector system described in item 11, wherein the second end effector is a suction cup end effector. (Item 15) The end effector system according to item 11, wherein the second end effector comprises a second body structure having a second internal structure defining a second concave inner chamber having a second chamber opening, the second internal structure comprising an array of second inlets positioned along at least one wall of the second concave inner chamber. (Item 16) The end effector system according to item 15, wherein the chamber opening of the first end effector has a different diameter from the second chamber opening of the second end effector. (Item 17) The end effector system according to item 11, wherein the array of inlets comprises a first subset of inlets positioned along the wall of the internal structure opposite the defined chamber opening. (Item 18) The array of inlets comprises at least a second subset of inlets along the second wall of the concave inner chamber, the second subset of inlets being defined in an orientation different from the orientation of the first subset of inlets, the end effector system according to item 11. (Item 19) The first end effector comprises a transition air channel, each transition air channel extending outwardly from the inner edge of the concave inner chamber towards the seal lip, the end effector system according to item 11. (Item 20) The suction cup system comprises a bellows forming an outer surface of the body structure, the bellows being connected to the seal lip, the end effector system according to item 11. (Item 21) An end effector for a pick and place system, A body structure with a vacuum line opening and an object engagement area, the vacuum line opening being configured to couple at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure, The body structure comprising a defined concave inner chamber with a chamber opening in the object engagement area, a body structure, A lip structure, the lip structure extending from the body structure and at least partially defining the chamber opening to the inner chamber, a lip structure, An array of inlets, the array of inlets being positioned along the wall of the inner chamber, each inlet defining an opening in the body structure to the defined internal channel, an array of inlets comprising an end effector. (Item 22) The array of inlets comprises at least a first subset of inlet openings in the direction of the chamber opening and a second subset of inlet openings in a direction away from the chamber opening, the end effector according to item 21. (Item 23) At least a portion of the second subset of the inlet is positioned on the inner wall of the lip, the end effector according to item 22. (Item 24) The inlets of the array of inlets are arranged symmetrically and radially extending from the upper inner wall to the inner wall of the lip, and are arranged within the inner chamber, the end effector according to item 21. (Item 25) The lip structure extends inwardly from the body structure so as to define a rounded shape of the chamber opening, the end effector according to item 21. (Item 26) A subset of the inlets of the array of inlets is uniformly distributed across the inner wall of the lip of the lip structure, the end effector according to item 25. (Item 27) The lip structure extends inwardly from a limited portion of the body structure, and the lip structure covers only a part of the chamber opening, the end effector according to item 21. (Item 28) The body is made of a rigid material, the end effector according to item 21. (Item 29) The body is made of a semi-rigid material, the end effector according to item 21. (Item 30) The lip structure is made of a flexible material, the end effector according to item 21. (Item 31) The lip includes a rounded edge with low friction, the end effector according to item 21. (Item 32) Further comprising a flexible suction cup extending beyond the object engagement region of the body structure, the end effector according to item 21. (Item 33) An end effector for use in combination with a vacuum pressure system, Comprising at least a semi-rigid body structure And comprising The main body structure includes a defined concave inner chamber with a chamber opening on the object engagement side of the end effector, and the inner chamber has an internal width exceeding the chamber opening. Within the inner chamber, the main body includes an array of inlets defining the channel opening wall of the main body structure. The main body structure includes defined internal channels connected to the array of the inlet, The main body structure includes a vacuum line interface that defines an opening to the defined internal channel. End effector. (Item 34) The end effector according to item 33, wherein the inlet array has at least a first subset of inlet openings in the direction toward the chamber opening and a second subset of inlet openings in the direction away from the chamber opening. (Item 35) The end effector according to item 33, further comprising a lip structure extending inward from the body on the object engagement side so as to define at least partially the chamber opening. (Item 36) At least a subset of the inlet is positioned on the lip, the end effector as described in item 35. (Item 37) The lip structure extends inward from the main body structure to define a rounded chamber opening, as described in item 35, for the end effector. (Item 38) An end effector as described in item 37, wherein a subset of the inlets in the array of inlets is uniformly distributed across the inner wall of the lip. (Item 39) The aforementioned body is made from a rigid material, and is an end effector as described in item 33. (Item 40) The end effector according to item 33, further comprising a flexible suction cup extending beyond the object engagement region of the main body structure. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1A-1F shows a schematic side cross-section of an exemplary modified end effector with a concave inner chamber.

[0010] [Figure 2] Figures 2A and 2B show schematic side cross-sections of the bag interaction with the end effector.

[0011] [Figure 3] Figures 3A and 3B show schematic side cross-sections of bag interactions in modified hybrid end-effector structures, engaging with a bagged object in Figure 3A and a solid object in Figure 3B.

[0012] [Figure 4] Figures 4A-4C show schematic diagrams of exemplary sequences of end effectors gripping and holding bags in different orientations.

[0013] [Figure 5] Figure 5 is a detailed side cross-sectional view of a modified end effector with a concave inner chamber.

[0014] [Figure 6] Figure 6 is a detailed side cross-sectional schematic view of an alternative end-effector modification with a solid body and an inlet on a different wall.

[0015] [Figure 7] Figure 7 is a schematic side cross-sectional view of one modified end effector with an inlet along the internal surface of the internal structure.

[0016] [Figure 8] Figure 8 is a schematic side cross-sectional view showing the features of an end effector for one modified example of the end effector with a lip structure.

[0017] [Figure 9] Figure 9 is a schematic side cross-sectional view of a modified end effector with internal lip features.

[0018] [Figure 10A] Figure 10A is a schematic side section of one modified end effector with a lip.

[0019] [Figure 10B] Figure 10B is a schematic horizontal cross-sectional view illustrating the inlet pattern on the lip of one modified end effector.

[0020] [Figure 11] Figures 11A and 11B are schematic side cross-sectional views of two different modifications in which the inner chamber includes a side inner wall with a patterned surface.

[0021] [Figure 12] Figure 12 is a schematic side cross-section of one modified end effector, which has a downwardly projecting structural feature.

[0022] [Figure 13A] Figure 13A is a schematic side section of one modified example of a hybrid end effector with a sealing lip.

[0023] [Figure 13B] Figure 13B is a schematic horizontal cross-sectional view illustrating a seal lip extending outward from the chamber opening.

[0024] [Figure 14A] Figure 14A is a schematic side section view of one modified example of a hybrid end effector with a sealing lip and bellows.

[0025] [Figure 14B] Figure 14B is a schematic horizontal cross-sectional view illustrating a seal lip extending outward from the chamber opening.

[0026] [Figure 15A]Figure 15A is a schematic side section of one modified example of a hybrid end effector with a transition air channel.

[0027] [Figure 15B] Figure 15B is a schematic horizontal cross-sectional view illustrating an exemplary patterning of a transition air channel.

[0028] [Figure 16A] Figure 16A is a schematic side section of one modified example of a hybrid end effector with an inlet on a wall with a different internal structure.

[0029] [Figure 16B] Figure 16B is a schematic horizontal cross-section of a hybrid end effector with an entrance at the top and walls with different internal structures.

[0030] [Figure 17A] Figure 17A is a schematic side section view of one modified example of a hybrid end effector with an expanded concave inner chamber.

[0031] [Figure 17B] Figure 17B is a schematic horizontal cross-sectional view of a hybrid end effector with an expanded concave inner chamber.

[0032] [Figure 18A] Figure 18A is a schematic side section of one modified example of a hybrid end effector with a lip structure.

[0033] [Figure 18B] Figure 18B is a schematic horizontal cross-sectional view of a hybrid end effector with a lip structure.

[0034] [Figure 19] Figure 19 is a schematic side cross-sectional view of one modified example of a hybrid end effector, showing its structural features in the inner chamber.

[0035] [Figure 20A] Figure 20A is a schematic side cross-sectional view of one modified example of a hybrid end effector with rigid side plates.

[0036] [Figure 20B] Figure 20B is a schematic horizontal cross-sectional view of a hybrid end effector with rigid side plates.

[0037] [Figure 21] Figures 21A and 21B are schematic side section views with illustrative dimensional terminology.

[0038] [Figure 22A] Figure 22A is a schematic side section view of one modified end effector with a lip extending over a limited portion of the chamber opening.

[0039] [Figure 22B] Figure 22B is a schematic horizontal cross-sectional view illustrating an inlet pattern on the lip of one modified example, with a lip, over a limited portion of the chamber opening.

[0040] [Figure 23] Figures 23 and 24 are schematic side cross-sectional views of exemplary modified end effectors. [Figure 24] Figures 23 and 24 are schematic side cross-sectional views of exemplary modified end effectors.

[0041] [Figure 25] Figures 25A and 25B are schematic side cross-sections of an actively controlled entry point, which is activated at different stages of gripping.

[0042] [Figure 26] Figure 26 is a schematic side cross-sectional view of a modified multi-channel end effector.

[0043] [Figure 27]Figure 27 is a schematic side cross-sectional view of a modified multi-chamber end effector.

[0044] [Figure 28] Figure 28 is a schematic cross-sectional view of a hybrid variant of the end effector, showing details of the internal structure inserted into the suction cup system.

[0045] [Figure 29] Figure 29 is a schematic cross-sectional view of a multi-angle end effector system, including one bag for gripping the end effector and one suction cup end effector.

[0046] [Figure 30] Figure 30 is a schematic cross-sectional view of a multifaceted end effector system, including two types of bags for gripping the end effector. [Overview of the Initiative] [Means for solving the problem]

[0047] Description of the Embodiment The following description of embodiments of the present invention is intended not to limit the invention to these embodiments, but rather to enable those skilled in the art to construct and use the invention. 1. Overview

[0048] End effector devices and systems for suction-based gripping of bagged objects function to utilize an internal recovery volume formed by an internally concave chamber. The recovery volume engages with the bagged article by drawing a portion of the bag material into the volume for pressurized gripping.

[0049] End effectors can be used with various types of objects, but they can improve performance with regard to bagged and / or other objects, with a flexible, membrane-like gripping surface. In some modifications, the end effector may be capable of high performance across various item types. For example, a hybrid end effector modification may be suitable for gripping boxed / solid and bagged items, involving the integration of a suction cup flexible sealing lip with an end effector that engages naturally with the item in a manner appropriate to that type of item.

[0050] In this specification, “bagged object” refers to a general type of object to be grasped and manipulated, but any suitable type of object may be used in addition to, or as an alternative to, an end effector.

[0051] As shown in the exemplary modification of the system in Figure 1A-1F, the end effector can utilize a rigid (or at least semi-rigid) structure that forms a defined concave inner chamber using at least a subset of recessed inlets from the inner chamber opening.

[0052] As shown in the exemplary modifications in Figures 1A and 1B, the entrance array may be positioned in various locations to increase the degree to which the bagged items are drawn into and grasped within the inner chamber.

[0053] As shown in the exemplary modifications in Figures 1C and 1D, hybrid modifications can integrate a suction cup system. In hybrid modifications, the end effector device and system for suction-based gripping may include a surrounding flexible sealing lip, which may allow the end effector device to act as a suction cup end effector on suitable objects such as boxes or items with hard surfaces (or tightly bagged items), except for the bagged items to be gripped, through interaction with a concave chamber.

[0054] In some modifications for further improved bag gripping, such as those shown in Figures 1E and 1F, end effector devices and systems for suction-based gripping may employ the use of a multi-directional array of inlets in variable orientation and structural modifications on the surface of the inner chamber. In some such modifications, the concave chamber may further be an extended concave chamber with a lip. The position of the inlets and / or the pressurized force in different directions may improve the bag gripping ability of the end effector for manipulating the bagged article without deforming the bag and without breaking the vacuum seal.

[0055] The various end-effector design features described herein may be combined in various combinations, such as those shown in the embodiment of Figure 1A-1F. For example, a hybrid end-effector may include a concave inner chamber with an array of inlets, which have variable orientation and structural features such as a structural chamber opening lip and suction cup system, as shown in Figure 1F. This may function to enable a hybrid end-effector with improved bag gripping and manipulating capabilities. Other preferred combinations of features may also be used as alternatives.

[0056] The end effector is preferably coupled to a vacuum system and attached to the robot's operating system. The end effector design may also be incorporated into a multifaceted end effector, in which case one or more instances of the system may be used in combination with other types of end effectors.

[0057] The end effector can be used in a pick-and-place robot system or any suitable object handling system, preferably used to handle bagged articles and, potentially, other suitable articles. However, the end effector may, alternatively, be used in conjunction with any suitable system designed to grasp objects, particularly bagged articles. For example, the end effector may also be useful in object handling machines used in manufacturing, assembly, food preparation, food packaging, medical kits, medical processing, and / or object handling systems.

[0058] End effectors and systems for suction-based gripping may employ various design features that enhance gripping ability.

[0059] One potential important feature is that the inner chamber provides a collection volume within which a portion of the bag is drawn into the chamber. The flexible material of the bagged item is drawn into the internal concave chamber when it engages with the system, providing a better grip.

[0060] Another potential consideration is that the chamber expands the surface area of ​​the bag material, on which the inlet can apply suction force. By varying the shape of the internally concave chamber and / or the depth / size of the chamber, different chamber designs may be used for different flexible material gripping capabilities. These may vary depending on the target type of gripped material, the variety of gripped materials / items, the type of item manipulation, and / or other performance properties.

[0061] Another important point is that the end effector may diversify the direction of the adsorption force. The inlet can be positioned on the internal concave chamber along different defined planes. In some cases, the inlet of the internal concave chamber can be positioned such that the adsorption force is in the opposite direction to the direction at the chamber opening, so as to increase the frictional force between the membrane and the end effector chamber opening. When combined with structural features that hinder or prevent the peeling or sliding of the material, this can result in a firmer grip on the bagged article.

[0062] An end effector can function partially by utilizing a rigid (or semi-rigid) structure, along with a set of recessed inlets extending from the inner chamber opening. Thus, when a bagged item is engaged by the end effector, the bag material is drawn into the structure of the inner chamber, and thereby into the body of the end effector. As an illustrative description of the sequence of gripping interactions, the end effector can operate by having a configuration such that, when depressurized, the bag is initially drawn into the inner chamber through the chamber opening, as shown in Figure 2A. The bag material is pulled towards the upper wall of the chamber. The bag material will generally be drawn into each or at least a number of these inlets, as shown in Figure 2B, establishing a seal. As the bag is drawn into the recovery volume of the recessed inner chamber, the pressurized seal with the bag may be more resilient.

[0063] In the hybrid variant, the end effector naturally grips the object based on its surface properties. As shown in Figure 3A, a bagged object will be gripped through the bag as described above. However, as shown in Figure 3B, a boxed object (or other type of suitable object) will be gripped through the suction cup system of the end effector.

[0064] In the exemplary system modifications shown in Figures 4A-4C, the end effector may include additional inlets and structural features to further increase the degree to which the bag is drawn into and gripped within the chamber structure. The body of the end effector may act to reduce the occurrence of bag slippage or material rolling through the design of the concave chamber's external shape and / or other structural features. As shown in Figure 4A, when depressurized, the bag is initially drawn into the inner chamber through the chamber opening. Friction between the bag membrane and the end effector inlets may be minimal during this phase, allowing the bag membrane to rapidly enter the inner chamber of the end effector. The arrangement of inlets may be such that the bag material is drawn towards the upper wall of the chamber, and then inlets along the sides of the chamber, optionally, the bottom edge of the chamber (possibly on a lip structure), then draw the bag material towards those inlets, as shown in Figure 4B. The bag material will generally be drawn to each or more of these inlets, establishing a seal, as flow to one inlet is blocked by the membrane while flow to the other inlets continues. Due to the enclosed shape of the end effector chamber (such as defined by a central cavity), the bag membrane is wrapped around the entry edge of the end effector, initiating high-friction contact between the bag membrane and the end effector. The arrangement of inlets may include configurations to facilitate a desired sequence of engagement with the bag membrane during the initial gripping of an object. As one potential advantage of such an end effector feature, when the end effector is manipulated (e.g., rotated in space, torqued, or swirled), the edges of the chamber opening, and optionally other structural edges, reduce the chances of slippage and bag rolling, as shown in Figure 4C.

[0065] This system may offer several potential benefits. However, this system is not limited to offering such benefits at all times; they are presented only as illustrative examples of how this system may be put into practical use. The list of benefits is not intended to be exhaustive, and other benefits may exist, either in addition or alternatively.

[0066] One potential advantage is that end-effector devices and systems can improve a machine's ability to grip bagged objects. In particular, end-effector devices and systems can improve a machine's ability to grip heavy or heavier bagged objects and objects wrapped in loose membranes. For example, an end-effector may be able to reliably grip loosely bagged items, such as coffee mugs inside a 12-inch x 12-inch poly bag.

[0067] As another potential advantage, end-effector devices and systems may be configured to operate as hybrid end-effectors, which in some modifications can be used to grip unbagged objects such as boxes, as well as bagged objects. In some modifications, end-effector devices and systems may include design features such that the interaction between the end-effector and the object adapts naturally so that the object is gripped in the appropriate mode when the gripping action is performed. For example, boxed objects and / or tightly bagged objects would naturally engage with the outer suction cup element, while bagged items with a loose membrane would naturally draw the bag material into the recovery volume. By selectively engaging with objects based on their physical surface properties, this could enable pick-and-place robot systems to operate the heterogeneous sorting of objects.

[0068] Another related potential benefit is that, in addition to improved gripping, end-effector devices and systems can enable machines to handle bagged objects more effectively. With fewer gripping failures at different angles, machines can handle bagged items in a variety of ways. The increased range of operation, combined with fewer instances of gripping failure, results in increased efficiency for automated systems. For example, end-effectors may be used not only to grip and transfer objects from one position to another, but also, at will, to reorient objects.

[0069] Another potential advantage is that end effectors can have a long service life. Some variations of end effectors can be fabricated from rigid or semi-rigid materials that may be more resistant to failure. In addition, some end effector variations can be fabricated from a single piece and / or have no moving parts, which may increase the robustness of the device.

[0070] Another potential advantage is that the end effector may, using its physical design, act as a passive element to better grip an object. As a passive device, the end effector would not require additional actuators, sensors, and / or control systems, as some gripping end effector solutions may require. 2. End Effector Details

[0071] As shown in Figure 1A, an end effector for suction-based gripping of a bagged object may include a main body structure 110 with a defined concave inner chamber 120, which includes an array of inlets 130. The body structure 110 may include a defined internal channel 140 connecting a vacuum line interface 150 to the array of inlets 130. The end effector can be used in conjunction with a bagged object, which is gripped by drawing the bag material into the concave inner chamber 120, which may function to establish a more resilient grip of the bagged object.

[0072] The end effector is preferably intended for use with a vacuum pressure system 170, which may be used in combination with a pick-and-place robot system or any suitable automation system. System variations may include instances of one or more of the end effector, vacuum pressure system, and / or pick-and-place robot system. The vacuum pressure system 170, more specifically, pressure lines connected to a vacuum pressure pump, are connected to the end effector, and the pressure lines, internal channels 140, and inlet arrays form a fluidically coupled path for gas and / or liquid.

[0073] Modifications of the end effector system may incorporate various features and variations as described herein. Figures 1A-1F are illustrative representations of modifications of the end effector, but as will be understood by those skilled in the art, the end effector is not limited to these illustrative representations. For example, the end effector may incorporate one or more modifications as described herein.

[0074] As described herein, end effectors are most commonly described and, unless otherwise stated, are characterized to have a substantially horizontally symmetrical and substantially rounded or circular shape. However, as will be understood by those skilled in the art, end effectors and their variations are not limited to such symmetrical or rounded forms, but may be asymmetrical and have other shapes.

[0075] In one modification of the end effector, such as that shown in Figures 1A-1F, the end effector includes at least a semi-rigid body structure 110, the body structure comprising a defined concave inner chamber 120 with a chamber opening on the object-engaging side of the end effector, and within the inner chamber, the body includes an array of inlets 130 defining the channel opening wall of the body structure 110. The defined concave inner chamber 120 is recessed beyond the chamber opening, which facilitates the drawing of bag material into the inner chamber 120, thereby enabling a better grip of the bagged object. In some modifications, the body structure further comprises a defined internal channel 140 connecting to the array of inlets 130, and the body structure 110 further comprises a vacuum line interface 150 defining an opening to the defined internal channel 140.

[0076] The object engagement region is preferably a surface or face on the main body structure 110 in which an object is engaged. The object engagement region may follow a substantially planar region. However, the region can be conformed to any preferred shape or form. The object engagement region will generally be located on the opposite side (i.e., the object engagement side) of the vacuum line opening and its individual vacuum line interface 150. However, the vacuum line interface and the object engagement region can have any preferred relative position. For example, some modifications may have a 45° or 90° angle between the vacuum line interface and the object engagement region.

[0077] As described herein, the end effector may be implemented with various shapes of the concave inner chamber 120, an array of inlets 130, optional inclusion of structural lips or other structural features of the concave inner chamber 120, inclusion of an adsorption cup system 160, and / or other modifications.

[0078] As shown in Figures 3A and 3B, a modification of the end effector including a lip is described more specifically as including, as an alternative, a body structure 110 with a vacuum line interface 150 and an object engagement region, the vacuum line interface 150 being configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel 140 of the body structure, the body structure 110 comprising a defined concave inner chamber 120 with a chamber opening in the object engagement region, the lip structure 121 extending from the body structure 120 and defining at least partially a chamber opening to the inner chamber 120, and an array of inlets 130 positioned along the wall of the inner chamber 120 and the inner lip wall 124 of the lip, each inlet defining an opening to a defined internal channel 140 within the body structure 110.

[0079] As a variation of the first set, the end effector may apply various arrangements of inlets 130 within the concave inner chamber 120. The array of inlets may include at least a subset 1301 of inlets positioned along the walls of the internal structure (e.g., walls transverse from the chamber opening) opposite the defined chamber opening, as shown in Figure 5, or alternatively, or in addition, along the side walls, lower side walls, and / or structural features of the concave inner chamber.

[0080] The array of inlets may include inlets installed in various orientations along different walls or structures of the internal structure defining the concave inner chamber. Thus, the array of inlets may include at least a second subset of inlets along a second wall of the concave inner chamber, the second subset of inlets defined in an orientation different from that of the first subset of inlets. As shown in the embodiment of Figure 6, the inlets of the first set may be installed along the upper wall, and the inlets of the second set may be installed along the side wall.

[0081] As another variation of the set, the end effector may incorporate an expanded concave inner chamber 120 to increase the recovery volume used when gripping the bagged object. The expanded concave inner chamber is an inner chamber having a width greater than the width of the chamber opening. In the variation with the expanded inner chamber 120, the inner chamber having an internal width greater than the chamber opening can facilitate the pulling of the bag material into the inner chamber 120, in which case the chamber opening establishes a rigid barrier that forms a fold in the bag material, which can reduce slippage and bag rolling so as to better grip the bagged object. In the case of a concave inner chamber with a circular cross-section, this may mean that the concave inner chamber has a cross-section with a diameter greater than the diameter of the chamber opening. However, the inner chamber and / or chamber opening are not limited to a circular shape. Thus, the expanded concave inner chamber 120 can be any shape having an outer shape that recedes beyond the inner chamber opening in at least one region (e.g., concave in the horizontal dimension).

[0082] In another possible modification, the extended inner chamber may incorporate a lip structure 121 extending inward from the main body structure 110 so as to at least partially define the chamber opening on the object engagement side, as shown in Figure 8. In some modifications, the lip structure 121 extends inward from the main body structure so as to define a rounded chamber opening. Alternatively, the lip structure 121 may form the outer shape of any preferred shape of the chamber opening. In addition, multiple lip structures may be present, such as an external lip 1211 and an internal lip 1212, as shown in Figure 9.

[0083] In another possible modification, a subset of the inlets 130 may be positioned on the lip structure 121, as shown in Figure 10, and open away from the chamber opening. In one embodiment, the array of inlets 130 may have at least a first subset of inlets 1301 that open towards the chamber opening, and a second subset of inlets 1302 (e.g., inlets on the lip structure) that open away from the chamber opening, as shown in Figure 10. In a modification involving the lip structure 121, a subset of the inlets 130 may be positioned on the lip structure 121, more specifically on the inner wall of the lip, and the inlets 130 may open away from the chamber opening. The multidirectional positioning of the inlets within the inner chamber, combined with the inwardly extending lip, can create volume using multidirectional pressure that can hold the bag in a more secure manner. The physical form of the main body structure 110 can coordinately enhance the grip of objects and reduce the chances of grip failure specific to the bag.

[0084] In another possible modification, the internal structure defining the concave inner chamber 120 may include one or more structural features (e.g., lip projections, valleys, etc.). In the embodiments of Figures 11A and 11B, the notched structural features may be patterned on the sidewalls of the sides of the internal structure defining the concave inner chamber 120. In the embodiment of Figure 12, the structural features may include surfaces projecting from the upper wall of the internal structure defining the concave inner chamber 120. In such modifications, a subset of inlets may be located on one or more structural features.

[0085] As one possible modification, the end effector features, such as those described herein, may be incorporated into the end effector together with an extended concave inner chamber 120 and a body structure 110 defining the outer surface. In such modifications, the end effector may be a fully rigid (or semi-rigid) structure, which may be made from a single piece or, alternatively, multiple components that are attached to form the structure of the end effector. In some modifications, the modifications may be manufactured using additive manufacturing (e.g., 3D printing) or other manufacturing techniques. In other modifications, the multiple components may be manufactured, attached, and assembled to form a single solid component. The modifications may be used as a bag-focused end effector.

[0086] In such a modified bag-focused configuration, the end effector may include at least a semi-rigid body structure 110, which forms the outer surface of the end effector and, on the object-engaging side of the end effector, comprises a defined concave inner chamber 120 with a chamber opening, the inner chamber 120 having an internal width exceeding the chamber opening, and within the inner chamber, the body includes an array of inlets defining channel openings in the walls of the body structure, the body structure further comprises defined internal channels connected to the array of inlets, and the body structure further comprises vacuum line interfaces defining openings in the defined internal channels.

[0087] As another possible modification, the end effector may include a body structure 110 that includes, or is connected to, a suction cup system 160 integrated with an internal structure defining a concave inner chamber 120, such as that shown in the embodiment of Figures 13-17. Alternatively, such modifications, referred to as hybrid end effector modifications, may function to allow the end effector to act as a suction cup-based end effector or as a bag-focused end effector. In the hybrid modification with integrated suction cups, a boxed object (or other object with a surface suitable for suction cup gripping, such as a loosely bagged item) may be naturally gripped by establishing a vacuum seal between the suction cup system 160 and the surface of the object, and the bagged object will naturally draw the bag material into the inner chamber 120 for gripping of the bagged object. Hybrid end effector modifications may optionally include one or more of the feature modifications described herein.

[0088] Thus, the end effector for the hybrid pick-and-place system may include a body structure 110 having a vacuum line opening and an object engagement region, wherein the vacuum line interface 150 (e.g., the opening) is configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure 110, the body structure 110 includes a suction cup system 160 having a flexible seal lip 161 in the object engagement region, and the body structure 110 further includes an internal structure 112 defining a concave inner chamber 120 having a chamber opening in the object engagement region, the chamber opening being located within the gripping region of the seal lip 161, and the internal structure 112 includes an array of inlets 130 located along at least one wall of the concave inner chamber 120, each inlet defining an opening to a defined internal channel within the body.

[0089] In some variations, the end effector variant may include a suction cup system that forms the outer surface of the end effector (e.g., the outer surface of the main body structure 110) and a separate rigid internal structure that is inserted into an opening in the suction cup system 160. The suction cup system 160 may be made of a flexible material, and the internal structure 112 may be made of a rigid (or semi-rigid) material. The rigid internal structure may be fitted and / or mounted within the suction cup system. The rigid internal structure 112 may define a concave inner chamber 120 with a chamber opening on the object engagement side of the end effector. As in other variations, within the inner chamber 120, the internal structure 112 may include an array of inlets 130 defining channel openings in the walls of the internal structure 112.

[0090] The seal lip 162 preferably surrounds the chamber opening and extends outward from there. The suction cup system 160 of the main body structure 110 may also include a bellows 162 around the internal structure 112, forming the outer surface of an end effector, such as that shown in Figure 14. The bellows 162 may be connected to the seal lip 161.

[0091] In some hybrid modifications, such as those shown in the embodiments of Figures 13-14, the array of inlets may include a first subset of inlets positioned along the walls of the internal structure, opposite the defined chamber opening. In other words, at least a subset of inlets may be along the upper wall.

[0092] In some hybrid modifications, such as the modification shown in Figure 16, the inlet array may also include at least a second subset of inlets along the second wall of the concave inner chamber. The second subset of inlets may be defined in an orientation different from that of the first subset of inlets. In such modifications, the inlets may be defined along different walls, having defined tangents along non-parallel planes. As shown in the embodiment of Figure 16, the inlets may be positioned along the upper and side walls of the concave inner chamber.

[0093] In some hybrid modifications, such as the modified example shown in Figure 17, some of the inlets 130 may be oriented in opposing directions. The inlets 130 may be oriented directly in opposing directions (with the inlets defined along vectors in opposite directions), but alternatively, the inlets 130 may be oriented indirectly (with the orientation vectors of the two inlets having longitudinal components in opposite directions).

[0094] In some hybrid modifications, such as the modification shown in Figure 18, the internal structure may form an extended concave inner chamber 120 with an inner chamber having a width exceeding the width of the chamber opening. In some such modifications, the internal structure (or other preferred component of the end effector) may include a lip structure 121 that at least partially defines the chamber opening.

[0095] In addition, in some hybrid modifications, such as the modified example shown in Figure 17, a first subset of the inlet 130 may open toward the chamber opening (i.e., defined with a certain orientation), and a second subset of the inlet may be positioned on the lip structure and open toward the opposite direction from the chamber opening (i.e., in the opposite direction).

[0096] In some hybrid modifications, such as the modified example shown in Figure 19, the internal structure 112 defining the concave inner chamber 120 may include one or more structural features (e.g., lip projections, valleys, etc.).

[0097] In some hybrid modifications, such as those shown in Figures 15-18, the end effector includes transition air channels 125 between the chamber opening and the suction cup 160. Each transition air channel 125 may extend outward toward the outer edge of the seal lip 161 from the inner edge of the chamber. This feature for providing fluid channels improves hybrid operation in either the suction cup gripping mode or the bagged object gripping mode. Other structural arrangements may also be used to establish transition air channels. In one preferred implementation, the internal structure includes a set of flanges extending outward from the chamber opening, thereby forming a set of transition air channels when inserted into the central opening within the suction cup system. The set of flanges preferably extends horizontally, at least partially, and preferably conforms to the inclination and surface of the seal lip 161. Alternatively, the transition air channels may be defined by the morphology of the inner surface of the seal lip 161.

[0098] In some hybrid modifications, such as the one shown in Figure 20, the end effector, which includes a suction cup system 160 with bellows 162, may include a rigid side plate 180 that encloses the bellows.

[0099] The following is a detailed description of the various components, features, and variations of end effectors and / or end effector systems.

[0100] The end effector body 110 functions as a structural unit with various channel characteristics to enable the end effector described herein. The body 110 may be fabricated from multiple components that are assembled or otherwise connected to form the end effector. Alternatively, the body 110 may be fabricated from a single fabricated structure.

[0101] As described above and shown in embodiments such as Figure 5-12, the body 110 can be a rigid or semi-rigid component that forms at least a portion of the internal structure defining the external surface and the concave inner chamber 120. In other modifications shown in embodiments such as Figure 13-21, the body 110 may include or be integrated with the suction cup system 160 and rigid or semi-rigid internal structure components. In some hybrid modifications, the external surface may be fabricated at least partially from the suction cup system, for example, as shown in Figure 16-19.

[0102] The main body 110 preferably includes an internal structure 112 that defines the concave inner chamber 120 and its features, as described below. The internal structure may be a mere subdivision of a rigid element (for example, as shown in Figure 5-12). Alternatively, the internal structure may be a distinctly different component that is combined with other components to form the main body 110 of the end effector. For example, the internal structure 112 may be an insert that is fitted into the internal opening of the suction-up system 160.

[0103] The internal structure 112 is preferably at least semi-rigid. In some modifications, the body 110 can be made from a fully rigid or semi-rigid material. As a rigid or semi-rigid material, the end effector may have a long service life because its use has minimal impact on the structure and functionality of the end effector. The body 110 may be a single piece fabricated from the material, but alternatively, it may be a multi-part design. In some modifications, the end effector may be implemented within the body with flexible or non-rigid materials and elements. In one exemplary modification, the end effector may include a flexible bellows for greater flexibility when in contact with an object, and the flexible region may be integrated within the body 110.

[0104] Various structural body modifications 110 for various elements of the end effector are described in further detail herein.

[0105] Generally, the structural body 110 will include at least several parts or sub-components that define the concave inner chamber 120.

[0106] As shown in the embodiment of Figure 13-20, the structural body 110 may include semi-rigid components that form an inner chamber 120 to facilitate gripping of bagged objects and the outer suction cup system 160, thereby facilitating gripping of unbagged objects (e.g., boxed objects) and / or tightly bagged objects.

[0107] As shown in Figure 5-12, the structural body 110 may, alternatively, be a fully semi-rigid or rigid structure fabricated from one or more components without the suction cup 160 component. In one embodiment, the body 110 may have a bell shape, but the external morphology of the end effector body may be customized to any preferred shape. In one preferred implementation, the body 110 is substantially symmetrical with respect to a central axis, with the vacuum line interface 150 and the inlet into the defined internal channel 140 on opposite sides. In one implementation, the body 110 has a morphology compatible with 3D printing so that the end effector can be fabricated from a single piece. However, any preferred manufacturing and assembly technique may be used as an alternative.

[0108] In some modifications, the structural body 110 may include an external flexible bellows subcomponent 161 that allows the end effector to flex, without including a suction cup flange.

[0109] The concave inner chamber 120 functions in conjunction with the array of inlets 130 as a feature that facilitates improved gripping of the bag. As described above, the concave inner chamber 120 is defined by the internal structure 112, and therefore the features of the inner chamber 120 may, alternatively, be described as features of the internal structure 112, or defined by the internal structure 112.

[0110] When pressure is active, the bag can be pulled into the inner chamber 120, and the defined volume of the chamber 120 is shaped to allow sufficient bag material to enter so that a seal can be established substantially over the entire array of inlets 130. Multiple inlets 130 at different positions can establish different points of applied force. In modifications with inlets in different orientations, the bag can be pulled in different directions at distinctly different locations on the inlets 130.

[0111] As discussed in several cases, the direction of the force generated from the pressure applied from one or more inlets 130 within a particular region is in the direction opposite to the direction in which the bag entered the chamber opening, and therefore, when moving an object in space while gripping, it can increase the friction between the bag membrane and the wall of the chamber opening and resist sliding. This functions to create an end effector structure that acts in the manner of a folding clasp.

[0112] The concave inner chamber 120 is formed by the internal structure 121 of the main body structure 110. In some modifications, the internal structure 121 may be merely part of the main body structure 110 forming an end effector, such as in Figure 6. Alternatively, the internal structure 121 may be a distinctly different component connected to another component of the main body structure 110. In one embodiment, the internal structure 121 is an insertion portion located within the opening of the suction cup system 160. The inner chamber 120 may refer to a defined cavity formed by the internal structure 121.

[0113] The inner chamber 120 is preferably concave from the chamber opening. In other words, the inner chamber is a defined cavity that is concave in the longitudinal direction (recessed from the distal chamber opening toward the proximal end of the end effector). The inner chamber 120 is described herein primarily as having a rounded or circular chamber opening within the object engagement region. However, the chamber opening may have an alternative shape.

[0114] In some variations, the inner chamber 120 is an expanded concave inner chamber, and in its widest region, the inner chamber 120 has a width exceeding the width of the chamber opening. In a more general characterization, the width of one section of the cavity exceeds that of at least one section of the cavity closer to the opening. The inner chamber 120 may be dome-shaped, but may have various internal geometric shapes. The inner chamber 120 may have a defined volume with an irregular shape.

[0115] The inner chamber 120 consists of inner walls, which may include an upper inner wall 122 and a side inner wall 123. In some modifications, the inner chamber 120 may also include a lip inner wall 124 when the end effector includes a lip structure 121. In some modifications, the end effector may not have such clear distinctions of inner walls and may be a continuous surface. In other modifications, more complex forms may have other internal structural features within the inner chamber 120, and alternative wall descriptors may be used. The upper, side, and lip inner walls are referred to herein for convenience in illustrating the various properties and general arrangement of features, and it is not intended to limit the inner chamber to three distinctly different types of walls.

[0116] The upper inner wall 122 will generally be characterized as the wall opposite the opening in the inner chamber 120 (i.e., the chamber opening). The side inner wall can be characterized as a wall extending longitudinally from the upper inner wall 122 toward the chamber opening. In a modification including a lip 121, the side inner wall 123 will generally taper outward or expand toward the base of the lip inner wall 124.

[0117] The inner chamber and its inner wall define a concave cavity that functions to pull in and grip the bag. In an extended concave modification of the inner chamber 120, the inner chamber may be characterized as defining a concave cavity that includes a chamber opening cavity and a central cavity, the width of which the chamber opening cavity is narrower in at least one section than in at least one region of the central cavity. An inwardly extending lip 121 may function to define the chamber opening cavity.

[0118] The dimensions of the main body and inner chamber 120 can be customized with respect to different bag materials and / or size / weight of the object, as shown in Figure 4. The weight of the object, the type of bag material, the amount of slack in the bag material, and / or other factors can be taken into consideration in the structure of the inner chamber 120. In one modification, the average width of the chamber opening exceeds the height (i.e., depth) of the concave inner chamber. For a circular chamber opening, this can be described, alternatively, as the ratio of the chamber opening diameter to the height of the inner chamber having a ratio greater than 1 (i.e., the diameter exceeds the height). Here, height refers to the measurement in the longitudinal direction, and the chamber height is the height from the object engagement area to the wall of the concave inner chamber opposite the object engagement area. The height and width of the inner chamber may depend on the membrane, the thickness of the bag, and the weight of the object inside.

[0119] The chamber height, defined from the chamber opening to the upper wall, is preferably sufficiently high to draw in a sufficient amount of material. The opening width (i.e., the width of the chamber opening) is a horizontally defined opening. The opening width is preferably sufficiently wide to allow the bag material to be drawn into the chamber without overfilling the chamber opening so that pressure expands and contracts the bag material. Generally, the chamber height exceeds the chamber opening, but is not limited to that configuration. The chamber width (width within the defined central cavity) may vary in shape in different cross-sectional areas along the height of the end effector. In the expanded concave inner chamber 120, the inner chamber 120 may generally have a maximum width exceeding the chamber opening width, as discussed. However, there may be modifications in which the inner chamber is not centered around the central axis, in which case the features of the expanded concave inner chamber 120 can be achieved through alternative configurations. The height, width, longitudinal, horizontal, and / or other relative terms used to refer to measurements and orientations are based on the references shown in Figures 21A and 21B. Those skilled in the art will understand that these relative terms are for illustrative purposes only and are not limited to any particular form or orientation of the end effector.

[0120] In some modifications, the inner chamber 120 may not have a defined lip 121. In one such embodiment, the inner chamber 120 may be a defined cavity that is formed into a substantially cylindrical shape, extending from the chamber opening toward the upper wall, as shown in Figure 13.

[0121] In some variations, the internal structure 112 may include structural features that function in a manner similar to or complementary to the lip structure 121. Such structural features may accompany the internal structure 112 having a structural form that extends inward or outward into the inner chamber 120. For example, the side inner wall 123 may serve or function similarly to the lip 121. As shown in Figures 11A and 11B, in some alternative variations, the inner chamber 120 may include a side inner wall 123 with a patterned surface. The patterned surface may be a sequence of protrusions. The patterned surface structure may be an alternative type of internal lip structure. The entrance may be located in a recess between the protrusions.

[0122] In another alternative embodiment, the upper wall may have an inwardly extending projection that extends downward, as shown in Figure 12. Such structural features can be used to modify the performance of the end effector. For example, the downward projection may function to increase the surface area of ​​the bag material that the end effector can grip.

[0123] As will be discussed, in one preferred modification, the main body structure 110 includes a lip structure 121 that extends and protrudes inward across the opening of the inner chamber 120. The lip structure 121 can function as a rim to the chamber opening. Thus, the lip structure 121 can partially define the volume of the inner chamber. The lip structure 121 preferably extends from the bottom surface of the main body structure 110.

[0124] As one variation, the lip structure 121 may extend inward from the main body structure to define a rounded chamber opening. Preferably, the lip structure 121 forms a circular, elliptical, or other type of symmetrical rounded shape for the chamber opening. However, the lip structure 121 may be used to create any preferred shape for the chamber opening. The lip structure 121 may extend uniformly from all sides of the main body structure 110. Alternatively, the lip structure 121 may not extend uniformly.

[0125] In one modification, the lip structure 121 extends inward from a limited portion of the body structure 110 to define a lip structure 121 that covers only a portion of the chamber opening. In one implementation, the lip structure 121 extends inward from half the circumference of the body structure 110 to form a lip structure 121 that covers only a limited portion of the chamber opening, as shown in Figures 22A and 22B. This modification may improve gripping along one dimension. The actuation system used when operating the end effector may include an encoder or other method of monitoring end effector orientation so that the end effector with the lip can be properly oriented in the appropriate direction. This may have particular utility in applications with highly repetitive automated systems, where a fixed or consistent form of operating path is repeatedly performed and the orientation of the lip can be integrated into the operating path.

[0126] The lip structure 121 preferably includes a lip inner wall 124. In some variations, the lip inner wall 124 may include at least a subset of an array of inlets 130. Inlets on the lip can be positioned across the surface of the lip inner wall 124. Thus, the lip structure 121 may include an internal channel 140 of the body to which the inlets on the lip are coupled. In one variation, the internal channel 140 of the body extends into the lip structure 121, such as when the body 110 and the lip structure 121 are a single or integrated part. In a variation where the lip structure 121 is a separate part attached to the body 110, the lip structure 121 may be manufactured with an internal channel that couples the inlets of the lip structure 121 to the internal channel 140 of the body when the lip structure 121 is attached to the body 110.

[0127] As an alternative variation, the lip structure 121 can be a solid structure, and the entrance may be located adjacent to the base of the lip structure 121.

[0128] The lip structure 121 is preferably at least semi-rigid and may be made from a rigid or semi-rigid material. In some alternative variations, the lip structure 121 may be made from a flexible material or may include a flexible portion. The flexible portion may be able to flex around the base, in the intermediate section, at the edge, or in any preferred portion.

[0129] The lip structure 121 may be substantially flat. However, the lip may have a patterned structure (protrusions, valleys, etc.) and / or other features. Preferably, the lip structure 121 extends laterally in the direction of the center of force under pressure. For example, if the primary direction of pressure at the chamber opening is longitudinally upward, the lip structure 121 extends at least partially horizontally. As an alternative modification, the lip may be angled downward, upward, or otherwise have several forms of inclination or additional structural features, as shown in Figure 23.

[0130] The lip structure 121 may include a low-friction, rounded edge along the chamber opening, which serves to better allow the bag to be drawn into the inner chamber 120. Alternatively, or in addition, the lip structure 121 may include discrete edges to facilitate fold points on the bag after the bag has engaged with the opening on or near the lip structure 121.

[0131] In some hybrid variations, the end effector includes a transition air channel 125, which functions to facilitate the establishment of a transition region between the chamber opening and the adsorption cup system 160. This may have the potential advantage of automatic adaptive gripping of different types of bagged items. For example, the transition air channel 125 can enable selective handling of tightly bagged and loosely bagged objects. The transition air channel 125 leaks air into the adsorption cup when the bag material is not fully gripped within the inner chamber 120. Thus, the transition air channel 125 can enable the adsorption cup system 160 to grip tightly bagged objects with bag material that lacks flexibility and fully engage within the inner chamber 120. However, when engaging with loosely bagged objects, the bag material can preferably be gripped within the inner chamber 120.

[0132] The transition air channel 125 can define a groove between the chamber opening and the outer edge of the seal lip 161. The transition air channel 125 can extend toward the seal lip 161 from the inner edge of the concave inner chamber 120 (at or near the chamber opening). The air channel 125 may only partially extend toward the edge of the seal lip 161. The transition air channels may be periodically arranged in a ring around the opening, but any preferred pattern may be used. In one implementation, the internal structure 112 includes a set of flanges that extend at least partially in the horizontal direction. In such a modification, the internal structure 112 can be made from a rigid material that is inserted into the central opening of the suction cup system 160. Thus, the flanges extend outward from the chamber opening. The flanges establish the side walls, and the surface of the seal lip 161 can serve as the bottom surface of the channel.

[0133] In another implementation, the seal lip 161 may include a ridge extending where the internal structure 112 engages with the opening of the adsorption cup system 160, the ridge defining a cavity extending from the chamber opening toward the outer edge of the seal lip 161. The transition air channel 125 may be defined as a linear channel, but may instead be of any preferred shape. For example, a network of defined channels may connect the outer edge of the chamber opening to the outer region of the seal lip 161.

[0134] The array of inlets 130 serves to define multiple passage channels extending through the walls of the body 110 so that pressure can be applied from the inner chamber 120. The array of inlets 130 is preferably located on the inner wall of the internal structure 112 that defines the concave inner chamber 120. In one variation, the inlets 130 are arranged mainly or entirely on the upper inner wall 122. In one such variation, the inlets 130 may be fabricated from a mesh or grid. In some variations, a subset of inlets (e.g., one or more) can be located on the upper inner wall 122, the side inner wall 123, and / or the lip inner wall 124.

[0135] The inlet can be a small defined cavity within the body 110. The defined passage channel may be formed into a cylindrical shape. In another modification, the inlet can be an elongated gap that creates a more rectangular defined passage channel. In one modification, an array of inlets 130 or at least a subset of the array of inlets 130 may be formed through a mesh material. The inlets may, alternatively, use any preferred shape, arrangement, and have any preferred dimensions. In addition, the inlets of the array of inlets 130 may be substantially uniform, but alternatively, they may have different dimensions and shapes, which may be configured for the role of each inlet.

[0136] The array portions of the inlet 130 may be distributed within distinctly different regions. The arrangement and configuration of the inlet 130 can be customized for specific performance purposes of the end effector.

[0137] In some modifications, it may be desirable for the end effectors to pull the bag material upward into the inner chamber 120 as much as possible. Thus, the inlet array may be located along the upper inner wall 122, either entirely or primarily.

[0138] In another variation, the arrangement may be configured to facilitate a desired method by which the bag is drawn into the inner chamber 120 and then further drawn toward the inlets toward the sides and / or bottom. The array of inlets 130 may be configured to facilitate a desired flow and manipulation of the membrane as it is drawn into the inner chamber 120. The array of inlets may include configurations to facilitate a sequence of engagements between the gripped membrane and the array of inlets 130 such that the inlets sequentially engage with the membrane (i.e., the flow is interrupted) in a manner that causes the inlets to expand across the inner surface 120 of the inner chamber during the initial gripping of the object. The array of inlets 130 refers to the position and pattern of the inlets. The array may also refer to a pattern in the properties of the inlets, such as size and shape. In one variation, the array is a series of outwardly expanding inlets, which can be a radially spreading pattern of inlets. The inlets may radiate symmetrically (or asymmetrically) from the upper inner wall 122. The radially spreading pattern of the inlets can function to facilitate the flow of the membrane material into the inner chamber 120, first to the upper inner wall inlet. When the centrally located inlet is blocked, the membrane flow is drawn to cover the inlet, and may potentially surround the covered inlet. This can persist until substantially all inlets are blocked, thereby holding the membrane at strategically positioned inlets such as the lip inner wall 124. Any preferred arrangement may be used as an alternative.

[0139] As shown in Figure 10A, one exemplary variation may include a first subset of entrances (e.g., one entrance) in an area adjacent to the upper inner wall 122 (e.g., located at the top, centered around the upper central part), a second subset of entrances along the lower portion of the side inner wall 123, and a third subset of entrances on the lip inner wall 124.

[0140] In a modified version including a lip structure 121, at least a subset of inlets are positioned on and / or adjacent to the lip structure 121. When positioned on the lip structure 121, the inlets can be uniformly distributed across the inner wall 124 of the lip, preferably in a pattern as shown in Figure 3B. When positioned adjacent to the lip structure 121, a subset of the array of inlets 130 may be positioned adjacent to the base, which may be an approach used when the lip is substantially thin (e.g., in height) or does not have an internal channel, as shown in Figure 8.

[0141] In some modifications, the array of inlets 130 has inlets 130 which are preferably positioned along the wall of the inner chamber 120 so that the inlets are oriented in various directions. This can serve to diversify the direction of the applied force. Herein, the orientation of the inlets is characterized as a vector in the direction of flow defined along an axis substantially perpendicular to the surface of the body at the inlet location. In addition, a subset of the array of inlets 130 may be positioned offset outside the chamber opening. When the end effector includes an extended inner chamber 120 and / or lip structure 121, the inlets may be offset from outside the chamber opening and better grip the bag material by promoting the curvature of the bag material relative to the lip structure 121.

[0142] In one modification, the array of inlets 130 includes a first subset of inlet openings, at least, in the direction of the chamber opening, and a second subset of inlet openings, in the direction away from the chamber opening. For example, if the chamber opening is oriented to direct the airflow upward, the first subset of inlets is also configured to direct the airflow upward directly within a subregion of the inner chamber 120, and the second subset of inlets is configured to direct the airflow downward within another subregion of the inner chamber 120. In one particular modification, at least a portion of the second subset of inlets is located on the inner wall 124 of the lip, but may be located in other directions, as discussed above.

[0143] As shown in the alternative modifications in Figure 24, some modifications may include an inlet that is offset from the chamber opening and oriented toward the chamber opening (for example, used at least partially when applying an upward force). This shows an exemplary modification that does not include an inlet, oriented toward the direction opposite to the direction of the chamber opening.

[0144] In one modification, the array of inlets 130 may include one or more actively controlled inlets. The actively controlled inlets are preferably capable of changing their open state. In one modification, the actively controlled inlet can be opened and closed. In another modification, the actively controlled inlet can modify the amount of opening to allow more or less air to pass through. In one implementation of the controlled inlet, the system includes a controlled valve that can be opened and closed according to a control signal. Other suitable mechanisms may also be used. In some cases, multiple inlets may be controlled through a single mechanism. The actively controlled inlet may be controlled in conjunction with gripping. For example, the controlled inlet may be in one state when the bag is initially pulled into the inner chamber 120, as shown in Figure 25A, and then in a different state for subsequent gripping of the bag, as shown in Figure 25B.

[0145] The defined internal channel 140 functions as an open volume contained by the wall of the main body structure 110. The internal channel 140 fluidly connects the inner chamber 120 and the vacuum line interface 150 through an array of inlets 130. The internal channel 140 may also be an open cavity. In some modifications, the main body structure 110 may be made from connected rigid material forming the outer surface and the inner chamber, which may include the internal channel 140. In another modification, the internal channel 140 may be a defined cavity between the bellows of the suction cup system 160 and the internal structure 112. Alternatively, the internal channel 140 may be a defined cavity when the end effector connects to the vacuum line interface 150. In one particular implementation, the internal channel 140 may be one or more tubes connecting the inlets to the vacuum line interface 150.

[0146] The vacuum line interface 150 functions as a defined space through which a pressure system can establish fluid coupling with the inlet. The reduced pressure in the vacuum line interface 150 preferably results in inward pressure in each of the airflow and inlet arrays 130, as well as inward pressure across the chamber opening. The end effector preferably includes the vacuum line interface, which functions as a connector to the pressure line and / or actuation system. The vacuum line interface preferably defines the cavity of the vacuum line interface 150. The vacuum line interface can be a threaded fastener, a locking mechanism, a friction fit, a snap fit, and / or any preferred mechanism to couple to the pressure line and / or actuation system. The actuation system may, alternatively, be mounted at a different location on the main body structure 110 or physically coupled. In one modification, the vacuum line interface may be a magnetized mounting surface for magnetic mounting to the actuation system and pressure system.

[0147] As will be discussed, in some modifications, the end effector may be integrated into or formed as part of a hybrid end effector. In the hybrid modifications, the end effector may include a suction cup system 160, which may be attached to and / or part of the main body structure 120. The suction cup system 160, with a sealing lip 161, extends beyond the object engagement area of ​​the inner chamber 120. The suction cup system 160 functions to provide a suction cup mechanism that can be used to grip several types of objects.

[0148] The suction cup system 160 can be used to create an initial seal with a bag or object by utilizing the responsiveness of the suction cup. In the case of a bag, the bag material may be pulled inward into the inner chamber 120 of the rigid body structure 110 for gripping. The flexible seal lip 161 may also allow the end effector system to function across a wider variety of objects. For example, hybrid modifications can grip flat, rigid surfaces (e.g., cardboard boxes), as well as loose poly bags. This can be particularly useful in applications such as parcel handling.

[0149] The suction cup system 160 preferably has object engagement regions that substantially align with the inner chamber 120. These regions are generally close together, along parallel planes, and may be coplanar, as shown in Figure 21B.

[0150] In one modification, the suction cup system 160 may completely surround the main body structure 110. Alternatively, the suction cup system 160 may be positioned on the end of the end effector. In yet another modification, the suction cup system 160 may be used in combination with a rigid insert, such that a defined internal channel 140 can be formed cooperatively from the suction cup system 160 and the rigid main body structure 110 in the form of an insert, as shown in Figure 28 and also in Figures 14-19. The suction cup system 160 may include structural features for holding the insert when fitted into position. Alternatively, the flexible suction cup 160 may be integrally attached to the rigid insert (e.g., overmolded around the insert).

[0151] The suction cup system 160 preferably includes at least a seal lip 161, which is a flexible lip or flange extending outward. The seal lip 161 has a sealing surface within a connected path, such as a ring, ellipse, or any preferred path shape. The seal lip 161 may include any preferred design features of the suction cup. When the seal lip 161 engages with a suitable object, it contacts and flexes across its surface to establish a sealed grip on the object.

[0152] The suction cup system 160 may also include a bellows 162. The bellows can provide flexibility when engaging with the surface of an object. In one modification, the bellows 162 may be located on the distal end of the end effector near the suction cup head. In another modification, the bellows 162 may be located closer to the vacuum line interface, on the proximal end of the end effector. In one modification, the bellows 162 may form the outer structure of the main body structure 110. The bellows may be connected to a seal lip. In one modification, the bellows and lip are fabricated from a single flexible material component.

[0153] In some modifications, the end effector may also include a rigid side plate 180 that at least partially encloses the bellows. The rigid side plate 180 may be a rigid ring structure that extends horizontally outward from the upper portion (e.g., the proximal side opposite the engagement region) past the bellows, and then downward toward the object engagement side.

[0154] The above-described features and optional modifications of the end effector may be combined in various ways and in various different forms, while still maintaining the disclosed concept of the end effector.

[0155] In one additional modification, the end effector system may include a body structure 110 with two or more defined internal channels 120, each connecting a distinct array of vacuum line openings 150 and distinct inlets 130. In an embodiment of such a modification, a first vacuum line interface 1501 may be coupled to a first subset 1301 of inlets through a first defined internal channel 1401, as shown in Figure 26, and a second vacuum line interface 1502 may be coupled to a second subset 1302 of inlets through a second defined internal channel 1402. The end effector system may include individually controlled vacuum pressure systems or at least individually controlled pressure lines so that adsorption can be individually controlled for different subsets of inlets.

[0156] In this modification, a first subset may be used to pull the bag into the inner chamber 120 during the initial gripping phase, while a second subset may be inactive and controlled to grip the bag material within the inner chamber 120 along the inlet, which is positioned for handling the object, during the subsequent gripping phase. In one modification, the second subset of the inlet may, for example, be along the inner wall of the lip.

[0157] In another additional modification, the end effector may include a plurality of distinctly different concave inner chambers 120, as shown in Figure 27. Each of these may be controlled individually or through a shared vacuum line interface 150. The different inner chambers 120 may be substantially the same or vary in various details. The plurality of inner chambers 120 may be patterned along the object engagement region in any preferred manner.

[0158] In another additional modification, the end effector may include one or more internal lips, as shown in Figure 9. These internal lips may extend horizontally, or alternatively, be oriented in different directions. Similar to the lip structure 121 described herein, the internal lip modification may similarly have an entrance located on or near the surface of the internal lip.

[0159] In some variations, the end effector may be used as part of a multi-head end effector system, which includes at least a first end effector and a second end effector, where at least one of the first or second end effector is a bag that grips the end effector, such as those described above.

[0160] Although two end effectors have been described, a multi-faceted end effector system may include any suitable number of end effectors. The engagement regions of the first and second end effectors may be aligned to be coplanar or substantially parallel. However, the end effectors may, alternatively, be aligned along different planes.

[0161] The two end effectors may share a common connection to a common vacuum pressure system 170. Alternatively, the first and second end effectors may have distinctly different connections to independent vacuum pressure systems. Thus, the multi-head end effector system may include a first vacuum pressure system coupled to the first end effector and a second vacuum pressure system coupled to the second end effector.

[0162] Multiple end effectors may be used for redundancy in several implementations. In other implementations, the two end effectors may be different types of end effectors for different gripping capabilities.

[0163] At least one of the end effectors is preferably a bag that grips the end effector. For convenience, the first end effector is described as such a bag that grips the end effector, in which case it comprises a body structure having a vacuum line opening and an object engagement region, the vacuum line opening being configured to connect at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure, the body structure comprising a suction cup system having a flexible seal lip in the object engagement region, the body structure comprising an internal structure defining a concave inner chamber having a chamber opening, the chamber opening being located within the gripping region of the seal lip, and the internal structure comprising an array of inlets located along at least one wall of the concave inner chamber, each inlet defining an opening to a defined internal channel within the body.

[0164] The second end effector may, in one modification, be a suction cup end effector, as shown in Figure 29. Alternatively, the second end effector may be any suitable type of contact end effector.

[0165] The second end effector, in another modification, may be an end effector for gripping a different type of bag. It may be configured differently from the first end effector for diversified gripping capabilities. In one embodiment shown in Figure 30, the chamber diameter of the opening of the first end effector may differ from the diameter of the chamber opening of the second end effector. The first and second end effectors may, as an alternative, include any other combination of different features and / or configurations.

[0166] The end effector is not limited to these features, but may include any preferred features of the end effector, be combined with other end effector components, or be capable of extracting and installing robot system elements.

[0167] Those skilled in the art will recognize from the above detailed description and from the figures and claims that modifications and alterations can be made to embodiments of the invention without departing from the scope of the invention, as defined in the following defined claims.

Claims

[Claim 1] The invention described herein.

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