End-of-arm suction gripper arrangement having a passive release valve

Abstract

An end-of-arm tool comprising a suction gripper arrangement comprising a suction gripper, a passive valve configured to allow for entry of ambient air into the suction gripper via the passive valve when a pressure inside the suction gripper to which pressure the passive valve is subjected is above an operating pressure is disclosed.

Description

[0001] END-OF-ARM SUCTION GRIPPER ARRANGEMENT HAVING A PASSIVE RELEASE VALVE

[0002] FIELD OF THE INVENTION

[0003] The present invention relates to an end-of-arm tool, and more particularly and an end- of-arm suction gripper arrangement comprising a suction gripper, and a passive valve configured to allow for entry of ambient air into the suction gripper via the passive valve when a pressure inside the suction gripper is above an operating pressure.

[0004] BACKGROUND ART

[0005] Atmospheric release in automated suction gripper object handling applications can be troublesome due to that an atmospheric release function is typically slow compared to a positive pressure release function (commonly known as Blow-Off).

[0006] For systems with compressed air available, valves that open to atmosphere for release of a gripped object can be piloted by compressed air and thereby be made compact with minimal electrical energy used for actuation of a large valve-orifice.

[0007] US 2010 / 045057 Al discloses an ejector device with ventilation action, wherein a vent valve is kept closed by means of a flow of pressurized air.

[0008] US 9 095 983 B2 discloses an auto-release vacuum device, wherein a vent valve is kept closed by means of a pressurized air supply.

[0009] However, with the recent trend of miniaturized electrically driven vacuum-sources for automation handling applications, a supply or source of pressurized air will typically not be available, and may not be desirable.

[0010] When using an electrically driven vacuum source, in order to enhance the atmospheric release function, an electrically operated valve with a larger orifice could be used. With a larger orifice, however, an associated electrical valve will become increasingly bulky and heavy, and a larger electrically operated valve will moreover generate a substantial amount of heat.

[0011] Additionally, as the pressure inside the suction gripper approaches atmospheric pressure, the flow through the valve orifice will decrease exponentially since the flow-cross- sectional area of the orifice is constant and the pressure-difference driving the flow through the orifice decreases, thereby extending the gripping operation release-time. Moreover, upon opening of the release valve to ambient air, the suction cup will expand from its compressed state, and the volume to be filled with ambient air will therefore increase, thereby increasing the release-time significantly, due to the associated increase in the volume to be filled with ambient air. Especially in instances where the suction gripper comprises one or more bellows.

[0012] Accordingly, it would be desirable to provide for efficient atmospheric release while avoiding the drawbacks associated with a larger electrical valve.

[0013] SUMMARY OF THE INVENTION

[0014] According to the present invention, the above object has been achieved by a passive valve being configured to passively open to ambient air when a pressure inside the suction gripper, to which pressure the passive valve is subjected, increases from an operating pressure to a pressure above the operating pressure.

[0015] As opposed to the prior art, during operation of the inventive suction gripper arrangement, the inventive passive valve is kept in a closed position by the action of a reduced pressure generated by a vacuum source, to which vacuum source the suction gripper is fluidly connected.

[0016] Accordingly, in one aspect the invention relates to an end-of-arm suction gripper arrangement 10 for gripping an object 100, said arrangement comprising: a suction gripper 30 having an inner suction volume 33, the inner suction volume 33 being configured to be fluidly connected to a vacuum source 20; and, a first valve 60 comprising a valve orifice 63 and a sealing member 65, the sealing member, when in a sealing position, being configured to seal the orifice, said first valve, when the sealing member is in an open, non-sealing position, fluidly connecting the inner suction volume 33 of the suction gripper 30 to ambient air 50 via the orifice 63, wherein said first valve 60 is a passive valve, orifice 63 is in fluid communication with the inner suction volume 33, the sealing member 65 being configured to be in the open, non-sealing position in a relaxed condition of the sealing member, to be in the closed, sealing position in a loaded condition of the sealing member, to be kept in its loaded, closed, sealing position by being subjected to a pressure in the suction volume 33 corresponding to a gripper operating pressure, and, from the closed, loaded sealing position, to passively open to ambient air by being subjected to a pressure in the inner suction volume 33 of the suction gripper 30 above the gripper operating pressure, thereby allowing for entry of ambient air into the suction gripper 30 via the orifice 63 of the first valve 60 when in an open state.

[0017] In some instances, the inventive first passive valve 60 could be used as the sole release valve. For example, when objects having a leaking surface, such as cardboard, are being handled, it is conceived that the inventive passive valve 60 in many instances will be sufficient to significantly reduce the release time.

[0018] However, generally, in other instances, typically when objects having a sealing surface are being handled, for a desirably reduced release time, a second, actuated, release valve may be required, and inclusion thereof is therefore generally preferred.

[0019] Accordingly, in a preferred embodiment the inventive end-of-arm suction gripper arrangement 10 for gripping an object 100, additionally comprises a second, actuated, valve 40, which, when in an open state, fluidly connects the inner suction volume 33 of the suction gripper 30 to ambient air 50 via the second valve, the second valve being configured to be in an open state or in a closed state upon actuation thereof, thereby allowing for entry of ambient air into the inner suction volume 33 of the suction gripper via the second valve 40 when in an open state.

[0020] According to the invention, the first passive valve 60, which is kept in a closed position by being exposed to a suction gripper operating pressure, could be used with any source of vacuum 20.

[0021] In preferred embodiments, the inventive end-of-arm suction gripper arrangement 10 additionally comprises the vacuum source 20 fluidly connected to the inner suction volume 33 of the suction gripper 30.

[0022] The vacuum source 20 is preferably an electrically powered vacuum pump, such as a piston pump or a membrane pump.

[0023] In preferred embodiments of the invention including a second, actuated valve 40 in addition to the first, passive, valve 60, the first, passive, valve 60 could principally be used with any type of second, actuated, valve 40, as long as the second valve 40 allows for controlling a desired entry of ambient air into the suction gripper through the second valve 40.

[0024] In preferred embodiments, the inventive solution combines the use of a second, actuated, valve 40, which can be made relatively small, with the first, passive, valve 60 that opens to ambient air as the pressure-difference between the pressure inside the suction gripper 30 and ambient air outside decreases, thereby speeding up the suction gripper release process.

[0025] Accordingly, the invention will boost the flow-capacity of an atmospheric release valve system for handling application within automation industry. This may be of a great importance to the overall efficacy of the handling system, especially since the release step may be the efficiency limiting step of a gripping operation.

[0026] Especially in embodiments where the suction gripper 30 comprises one or more bellows, the inventive passive valve 60 will have a significant contribution in reducing the re- lease-time, as such bellows typically expand from a fully collapsed state in a vacuum-range between -20 kPa and atmospheric pressure, thereby increasing the volume to be equalized.

[0027] The inventive passive valve 60 can be made small, simple, and light-weight. Moreover, the inventive valve 60 is passive and does accordingly not require supply of energy.

[0028] Further embodiments and advantages of the invention will be apparent from the following detailed description and appended claims.

[0029] The term "operating pressure" as used herein is intended to refer to a desired operating level of vacuum sufficient for operating the suction gripper.

[0030] The term "a pressure above operating pressure" is intended to refer to a lower level of vacuum than an operating level of vacuum.

[0031] As used herein the term "suction gripper" is intended to generally refer to a suction cup or to an array of suction cups, to a suction pad or to an array of suction pads. Accordingly, during a gripping operation using a suction gripper as defined herein, the suction gripper will subject a surface of an object to be gripped to a reduced pressure in order for the suction gripper to engage with the surface of the object. A suction gripper as defined herein hence uses suction action against a surface of an object for gripping said object.

[0032] The term "atmospheric" as used herein is intended to refer to ambient conditions, typically ambient air and ambient pressure.

[0033] The actuated, second valve 40, when present, and the first, passive, valve 60, respectively, of the claimed invention could also be referred to as release valves or vacuum release valves, since both valves are used to release a vacuum level inside the suction gripper by entry through the valves of ambient air into the suction gripper.

[0034] BRIEF DESCRIPTION OF THE ATTACHED DRAWINGS

[0035] Figure 1 shows a schematic overview of an embodiment of the inventive end-of-arm suction gripper arrangement 10 including, as a vacuum source 20, an electrically powered vacuum pump, and both a second valve 40, and the inventive first, passive, valve 60, both of which valves are displaced along a vacuum conduit 80 fluidly connecting suction gripper 30 with vacuum source 20.

[0036] Figure 2 shows a detailed cross-sectional view of the end-of-arm suction gripper arrangement 10 shown in FIG. 1, except for the vacuum source 20, which has been removed from vacuum conduit 80 for enhanced visibility in the cross-sectional view.

[0037] Figure 3 illustrates an example of a combined release flow ("Total flow") according to the invention, and the respective two flows through the two valves 40 and 60; "Valve flow" indicates the flow through a second, electrical, valve 40, and "Booster flow" indicates the flow through a first, passive, valve 60.

[0038] Figure 4 illustrates for purposes of comparison the corresponding release time for an embodiment of the invention ("Combined system release time") including both a second, actuated, valve 40 and a first, passive, valve 60, and the corresponding release time for a comparative system using only an electrical solenoid valve ("Valve release time"). DETAILED DESCRIPTION OF THE INVENTION

[0039] The present inventor has found that a passive valve, such as the valve disclosed in EP 2 641 854, can be used for letting in ambient air to a suction gripper during release when the pressure inside the suction gripper is above an operating pressure, thereby enhancing the flow of ambient air into the suction gripper during the remaining release process. The valve orifice of the passive valve disclosed in EP 2 641 854 will gradually open to ambient air as the pressure difference between ambient air and the inside of the gripper decreases, i.e. as the pressure inside the suction gripper approaches ambient pressure.

[0040] As opposed to the valve disclosed in EP 2 641 854, however, the first, passive, valve used in the present invention is not positioned in the evacuation flow path from the suction gripper, since it is used for a different purpose and accordingly must be exposed to ambient air also during gripping of an object using the suction gripper. Also, the inventive first, passive, valve 60 is not required to open gradually to ambient air as the pressure difference between ambient air and the inside of the gripper decreases, but could open abruptly as well as gradually.

[0041] The first, passive, valve 60 as used in the present invention is in an open state in its normal, relaxed, resting condition. During operation of the inventive end-of-arm suction gripper arrangement 10, as the suction gripper 30 is being evacuated by operation of the vacuum source 20, the pressure inside the suction gripper decreases, and a flow of ambient air 50 into the arrangement through the orifice 63 will increase. As the flow of ambient air through the orifice 63 of the first, passive, valve increases and the pressure inside the arrangement decreases, the sealing member 65 of the first, passive valve 60 will eventually be moved towards the orifice 63 into a position wherein the sealing member 65 seals the valve orifice 63 from ambient air 50. Once the valve orifice 63 has been closed by the sealing member 65, a lower desired operating pressure inside the gripping arrangement can be achieved. The valve orifice will remain closed until a pressure above operating pressure is reached inside the gripping arrangement, such as by opening of a second, actuated, valve 40 to ambient air, or by mere leaking of ambient air into the suction gripper 30 due to a leaking surface of an object 100 being gripped and vacuum is no longer being supplied to the suction gripper. In embodiments including a second valve 40, the design of the second valve 40 is not critical to the invention as long as the second valve can be controlled to be in an open state when desired. Accordingly, the second valve could be configured to be open when in a relaxed state and actuated so as to be in a closed state, or vice versa. Alternatively, the second valve could be bistable, and require actuation for both states. The second valve could either be piloted by compressed air, or directly operated electrically.

[0042] In preferred embodiments, the vacuum source 20 of the inventive gripper arrangement 10 is electrically powered. In such embodiments the electrical vacuum source 20 of the gripper arrangement 10 can typically be a vacuum pump, such as a piston pump or a membrane pump. The vacuum source 20 could alternatively be an ejector driven by pressurized air.

[0043] When included, the second valve 40is preferably electrically operated. In such embodiments the electrically operated second valve 40 is typically a solenoid valve.

[0044] The design of the first, passive, valve 60 is not critical as long as the above-described intended functioning is not compromised.

[0045] In a preferred embodiment, such as shown in FIGS. 1 and 2, the passive valve 60 is made up by a surface with an orifice 63, which orifice is gradually closed off by a flexible sealing member 65, which sealing member is gradually brought closer to the orifice 63 by flexing of the flexible sealing member 65 as a flow of ambient air through the orifice 63 increases and the pressure inside the gripper decreases. The speed of the air flow in the space between the orifice and the flexible sealing material of sealing member 65 increases as the distance decreases, creating a lower static pressure and a higher dynamic pressure alongside the sealing surface, thereby forcing the sealing surface closer to the orifice until the orifice 63 is fully closed off by the sealing member.

[0046] In the above embodiment of passive valve 60, the tension from the deformation of the sealing-material of sealing member 65 will then work against the pressure-difference between the orifice and the ambient air, and, as the internal pressure in the system increases, e.g. as the second valve 40 is opened, once a critical pressure difference is reached between ambient air and the pressure inside the gripper system, the first valve 60 will open allowing for additional flow of ambient air into the system. The sealing member 65 will typically take the form of a flap. In preferred embodiments the sealing material of sealing member 65 is flexible so as to allow for a gradual occlusion of the valve orifice by flexing of the sealing material of the sealing member 65 towards the valve orifice 63 with an increased drag on the sealing member. The flexible material of the sealing member 65 will typically be a polymeric material.

[0047] Other designs of the first, passive valve 60 could also be used according to the invention, such as a spring-loaded flap in a hinge, a ball-valve which could be either spring-loaded or rely merely on gravity. However, designs which rely on or are sensitive to the force of gravity are generally less preferred, since the first valve for a proper intended function in such instances will have to be suitably orientated in relation to the direction of the force of gravity.

[0048] When an object 100 is to be gripped using the inventive gripper arrangement 10, the vacuum source 20 is active and the second, actuated valve 40, when included, is in its closed position while the suction gripper 30, such as a suction-cup, is placed against the object 100, and air is evacuated from the inner suction volume 33 suction of the suction gripper. As air is being evacuated from the inner suction volume 33 of the suction gripper 30, a resulting flow of ambient air through the orifice 63 will eventually bring the sealing member 65 into its sealing position, thereby sealing off orifice 63 and the suction gripper to ambient air. When the passive valve 60 is in its closed position, the pressure inside the suction gripper 30 can be reduced to a desired operating pressure.

[0049] When the object 100 is to be released, the vacuum source 20 is deactivated and the second, actuated valve 40, when included, is opened to ambient air.

[0050] In embodiments including an electrical second valve 40, the inflow of air through the electrical second valve 40 in its open state is typically acceptable in the initial stages of the release, but decreases according the "Valve-flow" graph as illustrated in FIG. 3 as the pressure-difference to the ambient air decreases and the cross-sectional area of the valve-orifice of the second valve 40 is fixed.

[0051] By virtue of a first, passive, valve 60 of the inventive arrangement 10 having a performance-characteristic according to the "Booster Flow" graph as illustrated in FIG. 3, the combined airflow through the two valves 40 and 60 will significantly increase the volume flow during the critical final stages of the release (typically between 20 -kPa and 0 -kPa), thereby shortening the release time, as can be seen in FIG 4. Generally, when using solely an actuated release valve 40 which opens to atmosphere, such as in the prior art, the lower the weight of an engaged object 100, the longer the release time, especially for an object 100 having a non-leaking surface. Accordingly, the invention may reduce the release time substantially in such instances.

[0052] The inventive first, passive valve 60 shall preferably be tailored to have a characteristic matching a typical suction cup 30 behaviour with respect to cup-volume vs. pressure during the suction cup collapse / expansion phase.

[0053] By combining the natural effect of how the suction-cup volume changes with pressure with the engineered characteristic of the flow-actuated valve, release-flow can be tailored with respect to the suction-cup characteristics.

[0054] During the evacuation phase of an object handling process, the flow from the vacuum source 20 must exceed the Booster-flow (such as shown in FIG. 3), i.e. the flow of ambient air through orifice 63 of the first, passive valve 60, in order to be able to close the first, passive valve 60 and allow for the system 10 to reach desired deep operating vacuum levels.

[0055] The cross-sectional area of the orifice 63 of the first, passive valve 60 can be designed in various sizes to suit different applications. With a smaller orifice 63, the required size of a given vacuum source 20 for closing the orifice 63 would be smaller, but with an impaired performance in the release-phase. Also, orifice 63 could be embodied a one sole opening or as two or more openings, such as e.g. four openings.

[0056] The invention allows for ambient release of handled objects with markedly improved speed of release, as can be seen in FIG. 4, while maintaining lightweight solutions with limited power-consumption, especially as compared to traditional large electrical release valves of the prior art.

[0057] The invention will reduce the energy need, minimize weight of tooling, and improve the productivity of automated handling applications. LIST OF REFERENCE NUMERALS USED

[0058] 10 end-of-arm suction gripper arrangement

[0059] 20 vacuum source

[0060] 30 suction gripper 33 inner suction volume of suction gripper

[0061] 40 second valve

[0062] 50 ambient air

[0063] 60 first valve

[0064] 63 valve orifice 65 sealing member

[0065] 70 bellows

[0066] 80 vacuum conduit

[0067] 100 object to be gripped

Claims

CLAIMS1. An end-of-arm suction gripper arrangement (10) for gripping an object (100), said arrangement comprising:- a suction gripper (30) having an inner suction volume (33), the inner suction volume (33) being configured to be fluidly connected to a vacuum source (20); and,- a first valve (60) comprising a valve orifice (63) and a sealing member (65), the sealing member, when in a sealing position, being configured to seal the orifice, said first valve, when the sealing member is in an open, non-sealing position, fluidly connecting the inner suction volume (33) of the suction gripper (30) to ambient air (50) via the orifice (63), characterized in that the first valve (60) is a passive valve, the orifice (63) is in fluid communication with the inner suction volume (33), the sealing member (65) being configured to be in the open, nonsealing position in a relaxed condition of the sealing member, to be in the closed, sealing position in a loaded condition of the sealing member, to be kept in its loaded, closed, sealing position by being subjected to a pressure in the suction volume (33) corresponding to a gripper operating pressure, and, from the closed, loaded sealing position, to passively open to ambient air by being subjected to a pressure in the inner suction volume of the suction gripper (30) above the gripper operating pressure, thereby allowing for entry of ambient air into the suction gripper (30) via the orifice (63) of the first valve (60) when in an open state.

2. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 1, said arrangement additionally comprising:- a second, actuated valve (40) when in an open state fluidly connecting the inner suction volume (33) of the suction gripper (30) to ambient air (50) via the second, actuated valve, the second, actuated valve being configured to be in an open state or in a closed state upon actuation thereof, thereby allowing for entry of ambient air into the inner suction volume (33) of the suction gripper (30) via the second, actuated valve (40) when in an open state.

3. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 2, wherein the second, actuated valve (40) is configured to be in an open state upon actuation thereof.

4. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 2 or 3, wherein the second, actuated valve (40) is electrically operated.

5. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of claims 2-4, wherein the second, actuated valve (40) is a solenoid valve.

6. Then end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of the previous claims, wherein the suction gripper (30) comprises one or more bellows (70).

7. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of the preceding claims, wherein the sealing member (65) is flexible and configured to close the valve orifice (63) of the first valve (60) upon flexing of the flexible sealing member (65) in a direction towards the valve orifice (63).

8. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of the preceding claims, additionally comprising a vacuum conduit (80) configured to fluidly connect the inner suction volume (33) of the suction gripper (30) with the vacuum source (20), wherein the first valve (60) is displaced along the vacuum conduit (80) and opens into the vacuum conduit (80).

9. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of the preceding claims, additionally comprising the vacuum source (20) fluidly connected to the inner suction volume (33) of the suction gripper (30).

10. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 8, additionally comprising the vacuum source (20) fluidly connected to the inner suction volume (33) of the suction gripper (30) via the vacuum conduit (80).

11. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 9 or 10, wherein the vacuum source (20) is an electrically powered vacuum pump.

12. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of claim 11, wherein the vacuum pump (20) is a piston pump or a membrane pump.

13. The end-of-arm suction gripper arrangement (10) for gripping an object (100) of any one of claims 9-12, wherein the first valve (60) is located adjacent to the vacuum source

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