Robot arm with multiple vacuum zones

Abstract

A gripper for placing a part using independent vacuum zones configured to disengageably engage the part, enabling the gripper to pick, hold, and place the part among one or more closely packed adjacent parts. The vacuum zones may be actuated to retractably extend toward the part. The gripper may engage a second overlapping part while engaging the first part concurrently. The gripper may withstand a lateral torque, allowing parts to be slid on a surface. The vacuum zone may include a compressible length, providing a tolerance when engaging the part. The vacuum zone may have an independent vacuum system be equipped with vacuum cups of circular and / or elongated shapes, oriented and distributed to collaborate in different orientations.

Description

TITLE OF THE INVENTIONROBOT ARM WITH MULTIPLE VACUUM ZONESPRIORITY STATEMENT

[0001] This patent application claims priority on US patent application No. 63 / 674,380 filed on July 23, 2024.TECHNICAL FIELD

[0002] The present invention relates to robot arms, more particularly, to robot arms using multiple vacuum zones on a production line.BACKGROUND

[0003] Automated production lines may require the handling of various parts and components. The parts may be closely packed, and robot arms may need to operate with high precision. Production lines may include different types of robots, such as articulated robots, SCARA robots, and delta robots. Robot arms are commonly used to pick, hold, and place parts in production environments. The parts may vary in size, shape, and surface characteristics. Deviations in part dimensions and positions may occur frequently. Surface irregularities may present challenges in achieving a secure grip. The handling of parts may require the robot arms to adapt to different angles and orientations.

[0004] High-throughput operations may demand rapid picking and placing of parts. The speed and efficiency of the robot arms may be critical to maintaining the flow of the production line. Vacuum systems may be employed to generate lift forces and provide suction for handling parts. Yet, handling a part without disturbing an adjacent part may be challenging. Furthermore, the stability of parts during handling may be affected by the application of moments and forces.

[0005] Handling multiple parts simultaneously or sequentially may enhance the efficiency of production lines, but picking multiple parts remains challenging, in particular when the parts may overlap when picked together. Production lines with such challenges may include automotive manufacturing lines, where components such as sheet metal parts and plastic assemblies may need to be handled with precision. Electronics manufacturing lines may benefit from handling delicate parts such as circuit boards and small devices. Food and beverage production lines may require handling closely packed packaged goods, bottles, and cans. Pharmaceutical production lines may need to handle bottles, vials, and blister packs with precision and safety. Packaging lines may involve handling a diverse range of materials, including cardboard boxes and plastic containers. Glass manufacturing lines may require careful handling of glass sheets and products. Aerospace production lines may involve handling composite materials and metal parts with high precision. Casegood production for office furniture and kitchen cabinets involves handling large wooden panels and components, where precision and the ability to manage overlapping parts are crucial. Consumer goods manufacturing lines may handle a wide variety of products with different shapes and sizes. Logistics and warehousing operations may benefit from handling packages of various shapes and sizes in densely packed storage areas.

[0006] There is a need for a gripper with high throughput operations with precise yet secure handling of parts. The gripper described herein may address some of these challenges.SUMMARY

[0007] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0008] In a first aspect, the technique described herein relates to a gripper for placing a part. The gripper includes a plurality of vacuum zones, each with a head to disengageably engage the part. At least one vacuum zone from the plurality of vacuum zones may be an independent vacuum zone. The independent vacuum zone may operate independently, thereby enabling the gripper to pick, hold, and place the part among one or more closely packed adjacent parts.

[0009] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be an actuated vacuum zone with an actuator. The actuator may be operatively connected with the head thereof, enabling the actuated vacuum zone to retractably extend toward the part. Optionally, the part may be a first part and the actuated vacuum zone may extend when engaging a second overlapping part while engaging the first part concurrently. Optionally, the actuated vacuum zone may extend, when picking the part, defining an incline with one or more other vacuum zone, and thereby enabling the gripper to engage the part with an uneven force at two or more picking locations on the part. Optionally, the actuator may retractably extend the actuated vacuum zone toward the part by at least 80 mm. Optionally, the actuator may withstand a lateral torque of at least 1 N m, allowing the gripper to slide the part when at rest on a surface.

[0010] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a compressible vacuum zone with a compressible length configured to decompressably compress, and providing a tolerance when engaging the part. Optionally, the compressible length is at least 20 mm. Optionally, the compressible vacuum zone may decompress when lifting the part, causing the part to be picked with an uneven force when collaborating with a second vacuum zone of the plurality of vacuum zones, and thereby causing air to fill a vacuum underneath the part. Optionally, the compressible vacuum zone may include a pneumatic actuator and the compressible length may be provided therewith.

[0011] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a vacuum-chamber- equipped vacuum zone with a vacuum chamber and a vacuum system. The vacuum chamber may be operatively connected with the head thereof to provide suction thereto when engaging with the part. The vacuum system may be operatively connected with the vacuum chamber for evacuating an air pressure therefrom. Optionally, the vacuum system may evacuate the air pressure from the vacuum chamber ahead of engaging the part, allowing the part to be engaged within 250 milliseconds of being in contact with the head of the vacuum-chamber-equipped vacuum zone. Optionally, the vacuum-chamber-equipped vacuum zone may include a pressure sensor to measure the air pressure in the vacuum chamber. An acceleration of the gripper may be reduced when the air pressure in thevacuum chamber is below a safety threshold while picking and holding the part. Optionally, the vacuum chamber may be dedicated to the vacuum-chamber-equipped vacuum zone. Alternatively, or additionally, the vacuum system may be dedicated to the vacuum-chamber-equipped vacuum zone.

[0012] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a vacuum-cup- equipped vacuum zone wherein the head includes a vacuum cup made of a flexible material to absorb minor irregularities on a surface of the part therewith.

[0013] In embodiments, the vacuum cup may be an elongated vacuum cup where a ratio of the length to the width is at least 2, thereby improving a stability of the part when applying a moment thereto parallel to the length while engaging the part therewith. Optionally, the elongated vacuum cup may be a first elongated vacuum cup and the plurality of vacuum zones may include perpendicular vacuum-cup-equipped vacuum zone with a perpendicular elongated vacuum cup at an angle between 45 and 135 degrees of the first elongated vacuum cup. The perpendicular elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part, thereby improving the stability to the part when applying the moment perpendicular to the length of the first elongated vacuum cup. Alternatively, or additionally, the plurality of vacuum zones may include a parallel vacuum- cup-equipped vacuum zone comprising with a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup. The parallel elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part, thereby further improving the stability to the part when applying the moment thereto parallel to the length.

[0014] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a circular vacuum- cup-equipped vacuum zone with a circular vacuum cup. Optionally, the circular vacuum cup may provide a rotational freedom, allowing the gripper to rotate relative to the part while being at least partially engaged therewith. Optionally, the circular vacuum cup may provide a lateral freedom, allowing the gripper to square the part while being at least partially engaged therewith.

[0015] In embodiments, at least one vacuum zone from the plurality of vacuum zones may include an opening for injecting pressurized air thereinto, thereby facilitating a maintenance thereof.

[0016] In embodiments, the gripper may include an air knife to blow air on the part, thereby improving a suction seal between the plurality of vacuum zones and the part by reducing a number of dust and debris on a surface thereof.

[0017] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a detachable vacuum zone with a fastening mechanism to detachably attach the detachable vacuum zone to the gripper, and facilitate a replacement and a maintenance thereof.

[0018] In embodiments, the gripper may include a sweeper arm configured for sweeping one or more misplaced parts. Optionally, the sweeper arm may include a sweeper arm extender to retractably extend the sweeper arm from a sweeper arm docked configuration to a sweeper arm deployed configuration beyond the plurality of vacuum zones. Optionally, a sensor may detect a blocking part engaging the sweeper arm.

[0019] In embodiments, the gripper may include a squaring arm for moving and aligning the part laterally. Optionally, the squaring arm may include a squaring arm extender and one or more squaring vacuum zones. The squaring arm extender may retractably extend the squaring arm from a squaring arm docked configuration to a squaring arm deployed configuration. The one or more squaring vacuum zones may engage the part while moving laterally. Optionally, the one or more squaring vacuum zones may provide a lateral freedom, thereby allowing the squaring arm to square the part while being at least partially engaged therewith.

[0020] In embodiments, at least one vacuum zone from the plurality of vacuum zones may be a dual vacuum zone with the head comprising a pair of vacuum cups having a first vacuum cup and a second vacuum cup. The first vacuum cup may be positioned closer to the second vacuum cup than any other vacuum cup from the plurality of vacuum zones and the second vacuum cup may be positioned closer to the first vacuum cup than any other vacuum cup from the plurality of vacuum zones. The pair of vacuum cups may define a collaboration line and the first vacuum cup and the second vacuum cup may collaborate when picking and holding the part, improving a stability to the part when applying a moment parallel to collaboration line.

[0021] In embodiments, the plurality of vacuum zones may include a first vacuum zone, a vacuum zone closest to the first vacuum zone, a second vacuum zone, and a vacuum zone closest to the second vacuum zone. The first vacuum zone and the vacuum zone closest to the first vacuum zone may define a first distance. The second vacuum zone and the vacuum zone closest to the second vacuum zone may define a second distance. The first distance may be different from the second distance, thereby positioning the plurality of vacuum zones in an irregular pattern.

[0022] In embodiments, the plurality of vacuum zones may define a pattern configured to be asymmetrical along at least one of a lateral or longitudinal axis, thereby providing a different configuration when the gripper is rotated by 180 degrees.

[0023] In embodiments, the plurality of vacuum zones may include at least 8 vacuum zones and at least 55 vacuum zones per square meter. Alternatively, the plurality of vacuum zones may include at least 4 vacuum zones and at most 35 vacuum zones per square meter.

[0024] In embodiments, the independent vacuum zone may generate a lift force of at least 75N and at least 400 mBar.

[0025] In embodiments, the gripper may be mounted on a robot. Optionally, the robot may include an articulated robot, a SCARA robot, a delta robot, a cylindrical robot, a cartesian robot, a collaborative robot, a polar robot, a telescopic robot, or a gantry.

[0026] In embodiments, the part may include a wood panel, a wooden part, a sheet metal part, a plastic assembly, a circuit board, an electronic device, a packaged good, a cardboard box, a plastic container, a glass sheet, a glass product, a composite materials panel, a laminated particle board, a laminated MDF board, and / or a MDF board. Optionally, a weight of the part may be between 2 kg and 50 kg.

[0027] In a second aspect, the technique described herein relates to a method for placing a part using a gripper. The gripper may be positioned in an engagement configuration. The part may be engaged by activating one or morevacuum zone from a plurality of vacuum zones of the gripper. The gripper may be positioned in a placement configuration. The part may be disengaged by deactivating the one or more vacuum zone. The one or more vacuum zone may be an incomplete subset of the plurality of vacuum zones. The incomplete subset may define a shape of the part, thereby avoiding nearby parts from engaging with the gripper.

[0028] In embodiments, the one or more vacuum zone may be extended from the gripper to reach the part. Optionally, when the gripper is already engaged with one or more previous part, the one or more vacuum zone from the gripper may be extended to overlap the part and the one or more previous part. Optionally, the one or more previous part comprise at least three parts, thereby enabling the gripper to hold a total of at least four parts concurrently.

[0029] In embodiments, the one or more vacuum zone may be extended from the gripper unevenly into an incline, thereby enabling the gripper to engage the part with an uneven force at two or more picking locations on the part. The part may be lifted using the uneven force, thereby causing air to fill a vacuum underneath the part.

[0030] In embodiments, the part may be slid laterally, when at rest on a surface.

[0031] In embodiments, the one or more vacuum zone may be lowered onto the part, causing at least one vacuum zone from the one or more vacuum zone to compress more than an other vacuum zone from the one or more vacuum zone. The one or more vacuum zone may then be lifted, causing the at least one vacuum zone to decompress more than the other vacuum zone from the one or more vacuum zone, the part to be picked with an uneven force, and air to fill a vacuum underneath the part. Optionally, the part may be at rest on an incline of between 0.5 and 4 degrees, thereby causing an uneven engagement of the gripper therewith.

[0032] In embodiments, an air pressure may be evacuated from a vacuum chamber ahead of engaging the part, thereby allowing the part to be engaged within 250 milliseconds of being in contact with a head of the vacuum zone.

[0033] In embodiments, an air pressure may be measured in the vacuum zone and an acceleration of the gripper may be reduced when the air pressure is below a safety threshold.

[0034] In embodiments, a surface of the part may be engaged using one or more vacuum cups of the one or more vacuum zone, wherein the one or more vacuum cups are made of a flexible material to absorb minor irregularities on the surface of the part therewith.

[0035] In embodiments the one or more vacuum cups may include an elongated vacuum cup with a ratio of a length to a width of at least 2, thereby improving a stability of the part when applying a moment thereto parallel to the length while engaging the part therewith. Optionally, the elongated vacuum cup may be a first elongated vacuum cup and the one or more vacuum cups may further include a perpendicular elongated vacuum cup at an angle between 45 and 135 degrees of the first elongated vacuum cup. The perpendicular elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part, thereby improving the stability to the part when applying the moment perpendicular to the length. Additionally, or alternatively, the one or more vacuum cups may further include a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup. Theparallel elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part, thereby improving the stability to the part when applying a moment parallel to the length.

[0036] In embodiments, the one or more vacuum cups may include a circular vacuum cup. Optionally, the circular vacuum cup may provide a rotational freedom, and the gripper may be rotated relative to the part while being at least partially engaged therewith. Additionally, or alternatively, the circular vacuum cup may provide a lateral freedom, and the part may be squared while the gripper is at least partially engaged therewith.

[0037] In embodiments, pressurized air may be injected into an opening of at least one vacuum zone from the plurality of vacuum zones to perform a maintenance thereof.

[0038] In embodiments, air may be blown on the part using an air knife, thereby improving a suction seal between the plurality of vacuum zones and the part by reducing a number of dust and debris on a surface thereof.

[0039] In embodiments, one or more misplaced parts may be swept using a sweeper arm.

[0040] In embodiments, the part may be slid laterally using a squaring arm, thereby pushing a proximate part and creating a gab therebetween. Optionally, the part may be squared while the squaring arm is at least partially engaged therewith.

[0041] In embodiments, an exchanged part may be picked while holding the part the part may be disengaged while holding the exchanged part.

[0042] In embodiments, the gripper may be mounted on a robot. Optionally, the robot may include an articulated robot, a SCARA robot, a delta robot, a cylindrical robot, a cartesian robot, a collaborative robot, a polar robot, a telescopic robot, and or gantry.

[0043] In embodiments, the part may include a wood panel, a wooden part, a sheet metal part, a plastic assembly, a circuit board, an electronic device, a packaged good, a cardboard box, a plastic container, a glass sheet, a glass product, a composite materials panel, a laminated particle board, a laminated MDF board, and / or a MDF board. Optionally, a weight of the part may be between 2 kg and 50 kg.

[0044] In a third aspect, the technique described herein relates to a method for simultaneously engaging two or more parts using a gripper. The gripper may be positioned in a first engagement configuration. A first part from the two of more parts may be engaged by activating a first set of at least one gripping zones from a plurality of gripping zones of the gripper. The gripper may be positioned in a second placement configuration, different from the first placement configuration. A second part may be engaged from the two of more parts, while the first part is engaged, by activating a second set of at least one gripping zones from the plurality of gripping zones, different from the first set.

[0045] In embodiment, the first part and the second part may be engaged from a surface supporting n additional part, the second set of gripping zones may be extended by at least a thickness of the first part, thereby allowing the gripper to reach the second part without the first part colliding with the n additional part. Optionally, the thickness of the first part may be at least 10 mm.

[0046] In embodiments, the method may be repeated for each of the n additional parts, until the n additional parts are engaged. The gripper may be positioned, a corresponding additional set of gripping zones may be extended to allowing the gripper to reach one additional part from the n additional parts without any previously engaged part colliding therewith, and the one additional part may be engaged by activating the corresponding additional set of gripping zones, allowing the gripper to engage the n additional parts.

[0047] Optionally, the plurality of gripping zones may be a plurality of vacuum zones (100).BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Further features and exemplary advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the appended drawings, in which:

[0049] Figure 1 is a drawing depicting a top view of an exemplary embodiment of a gripper in accordance with the teachings of the present invention;

[0050] Figure 2 is a drawing depicting a bottom view of an exemplary embodiment of a gripper in accordance with the teachings of the present invention;

[0051] Figure 3 is a drawing depicting a front view of an exemplary embodiment of a gripper in accordance with the teachings of the present invention;

[0052] Figure 4 is a drawing depicting a side view of an exemplary embodiment of a gripper in accordance with the teachings of the present invention;

[0053] Figure 5 is a drawing depicting a bottom view of an exemplary embodiment of a vacuum cup layout for a gripper in accordance with the teachings of the present invention;

[0054] Figure 6 is a drawing depicting an isometric view of an exemplary embodiment of a gripper in accordance with the teachings of the present invention;

[0055] Figure 7 is a drawing depicting an exemplary embodiment of a vacuum cup layout positioned over a part in accordance with the teachings of the present invention;

[0056] Figure 8 is a drawing depicting an exemplary embodiment of a sweeper arm for a gripper in accordance with the teachings of the present invention;

[0057] Figure 9 is a drawing depicting an exemplary embodiment of a sweeper arm for a gripper in accordance with the teachings of the present invention;

[0058] Figure 10 is a drawing depicting a side view of an exemplary embodiment of a gripper with a sweeper arm in lower position, in accordance with the teachings of the present invention;

[0059] Figure 11 is a drawing depicting an exemplary embodiment of a squaring arm for a gripper in a docked configuration, in accordance with the teachings of the present invention;

[0060] Figure 12 is a drawing depicting an exemplary embodiment of a squaring arm for a gripper in a deployed configuration, in accordance with the teachings of the present invention;

[0061] Figure 13A, Figure 13B, Figure 13C and Figure 13D, referred together as Figure 13, are drawings in which Figure 13A depicts two adjacent parts, Figure 13B depicts a gripper engaging one of the adjacent parts, Figure 13C depicts a gripper pushing the adjacent part using an engaged part, and Figure 13D depicts a gripper creating a gap between two adjacent parts, in accordance with the teachings of the present invention;

[0062] Figure 14 is a drawing depicting an exemplary embodiment of a vacuum zone for a gripper, in accordance with the teachings of the present invention;

[0063] Figure 15 is a drawing depicting an exemplary embodiment of a gripper engaging a part from an incline, in accordance with the teachings of the present invention;

[0064] Figure 16 is a drawing depicting a bottom view of an exemplary embodiment of a vacuum cup layout for a gripper comprising dual vacuum zones, in accordance with the teachings of the present invention;

[0065] Figure 17 is a drawing depicting a side view of an exemplary embodiment of a gripper engaging a part across a pile of parts on an inclined surface, in accordance with the teachings of the present invention;

[0066] Figure 18 is a drawing depicting an exemplary embodiment of a maintenance station for a gripper, in accordance with the teachings of the present invention;

[0067] Figure 19 is a drawing depicting an exemplary embodiment of a maintenance station for a gripper being used to clean the head of a vacuum zone, in accordance with the teachings of the present invention;

[0068] Figure 20 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper, in accordance with the teachings of the present invention;

[0069] Figure 21 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper with extension of vacuum zones, in accordance with the teachings of the present invention;

[0070] Figure 22 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper with engagement to a previous part, in accordance with the teachings of the present invention;

[0071] Figure 23 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper with uneven extension of the vacuum zones, in accordance with the teachings of the present invention;

[0072] Figure 24 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper comprising sliding the part laterally, in accordance with the teachings of the present invention;

[0073] Figure 25 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper using partial compression of the vacuum zones, in accordance with the teachings of the present invention;

[0074] Figure 26 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper involving evacuation of air ahead of engaging the part, in accordance with the teachings of the present invention;

[0075] Figure 27 is a flow diagram depicting an exemplary embodiment method for placing a part using a gripper involving measuring an air pressure in the vacuum zones, in accordance with the teachings of the present invention;

[0076] Figure 28 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving engaging the part with a vacuum cup, in accordance with the teachings of the present invention;

[0077] Figure 29 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving rotating the gripper while being engaged with the part, in accordance with the teachings of the present invention;

[0078] Figure 30 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving squaring the gripper while being engaged with the part, in accordance with the teachings of the present invention;

[0079] Figure 31 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving performing maintenance on a vacuum zone, in accordance with the teachings of the present invention;

[0080] Figure 32 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving blowing air on parts using an air knife, in accordance with the teachings of the present invention;

[0081] Figure 33 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving sweeping misplaced parts using a sweeper arm, in accordance with the teachings of the present invention;

[0082] Figure 34 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving sliding a part using a squaring arm, in accordance with the teachings of the present invention;

[0083] Figure 35 is a flow diagram depicting an exemplary embodiment method for placing a part with a gripper involving picking an exchanged part, in accordance with the teachings of the present invention;

[0084] Figure 36 is a flow diagram depicting an exemplary embodiment method for simultaneously engaging two or more parts using a gripper, in accordance with the teachings of the present invention;

[0085] Figure 37 is a flow diagram depicting an exemplary embodiment method for simultaneously engaging two or more parts using a gripper involving extending a second set of gripping zones, in accordance with the teachings of the present invention; and

[0086] Figure 38 is a flow diagram depicting an exemplary embodiment method for simultaneously engaging two or more parts using a gripper, involving repeating the method to engage additional parts, in accordance with the teachings of the present invention.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0087] The gripper described herein may use multiple vacuum zones for picking, holding, and placing parts. In embodiments, the gripper may be lowered over flat parts of various shapes and sizes, whereupon at least one of the vacuum zones may be activated thereby allowing the part to be lifted. The gripper may be used to operate on wood panels within a production line or on other types of production lines, including automotive manufacturing lines,electronics manufacturing lines, food and beverage production lines, pharmaceutical production lines, textile manufacturing lines, packaging lines, glass manufacturing lines, aerospace production lines, consumer goods manufacturing lines, and logistics and warehousing operations.

[0088] The gripper described herein may be used in scenarios where parts are organized in a nesting configuration. When multiple parts are proximate to one another, other vacuum grippers may be unable to pick specific parts with sufficient force while leaving other parts untouched.

[0089] The gripper described herein may be configured to hold more than one part concurrently, thereby reducing travel time of the arm and enabling scenarios such as the swapping of parts. In embodiments, the gripper described herein may hold overlapping parts concurrently.

[0090] Reference is now made to the drawings in which Figure 1 depicts an exemplary embodiment of a gripper 10 in accordance with the teachings of the present invention. Figure 2 depicts a bottom view of an exemplary embodiment of a gripper 10. Figure 3 depicts a front view of an exemplary embodiment of a gripper 10. Figure 4 depicts a side view of an exemplary embodiment of a gripper 10. Figure 5 depicts a bottom view of an exemplary embodiment of a vacuum cup layout for a gripper 10. Figure 6 depicts an isometric view of an exemplary embodiment of a gripper 10. Figure 8 and Figure 9 depict an exemplary embodiment of a sweeper arm 170 for a gripper 10. Figure 10 depicts a side view of an exemplary embodiment of a gripper with a sweeper arm 170 in lower position. Figure 11 and Figure 12 depict an isometric view of an exemplary embodiment of a squaring arm 180. Reference is made concurrently to the flow diagram in which Figure 20 depicts an exemplary embodiment method for placing a part using a gripper, in accordance with the teachings of the present invention. The flow diagram of Figure 21 depicts an exemplary embodiment method for placing a part using a gripper with extension of vacuum zones. The flow diagram of Figure 22 depicts an exemplary embodiment method for placing a part using a gripper with engagement to a previous part. The flow diagram of Figure 23 depicts an exemplary embodiment method for placing a part using a gripper with uneven extension of the vacuum zones. The flow diagram of Figure 24 depicts an exemplary embodiment method for placing a part using a gripper comprising sliding the part laterally. The flow diagram of Figure 25 depicts an exemplary embodiment method for placing a part using a gripper using partial compression of the vacuum zones. The flow diagram of Figure 26 depicts an exemplary embodiment method for placing a part using a gripper involving evacuation of air ahead of engaging the part. The flow diagram of Figure 27 depicts an exemplary embodiment method for placing a part using a gripper involving measuring an air pressure in the vacuum zones. The flow diagram of Figure 28 depicts an exemplary embodiment method for placing a part with a gripper involving engaging the part with a vacuum cup. The flow diagram of Figure 29 depicts an exemplary embodiment method for placing a part with a gripper involving rotating the gripper while being engaged with the part. The flow diagram of Figure 30 depicts an exemplary embodiment method for placing a part with a gripper involving squaring the gripper while being engaged with the part. The flow diagram of Figure 31 depicts an exemplary embodiment method for placing a part with a gripper involving performing maintenance on a vacuum zone. The flow diagram of Figure 32 depicts an exemplary embodiment method for placing a part with a gripper involving blowing air on parts using an air knife. The flow diagram of Figure 33 depicts an exemplary embodiment method for placinga part with a gripper involving sweeping misplaced parts using a sweeper arm. The flow diagram of Figure 34 depicts an exemplary embodiment method for placing a part with a gripper involving sliding a part using a squaring arm. The flow diagram of Figure 35 depicts an exemplary embodiment method for placing a part with a gripper involving picking an exchanged part.

[0091] A first aspect of the techniques described herein relates to a gripper 10 for placing a part 50. The gripper 10 may include elements to engage a surface of the part 50 through a releasable force, such as vacuum, frictional contact, or mechanical coupling. The part 50 may be any component, for example, a wood panel, sheet metal, plastic assembly, or packaged good. The gripper 10 may be positioned to hold the part 50 securely until placed in a desired location. Integration with robotic arms, linear actuators, or other positioning equipment may allow movement and orientation while remaining disengageable. The gripper 10 may incorporate multiple engagement points, thereby facilitating handling of parts 50 with varying shapes, sizes, or surface characteristics. The gripper may include a plurality of vacuum zones 100 to pick, hold, and place the part 50. The vacuum zones 100 may generate sufficient vacuum force to securely lift and transport the part 50, including items such as flat panels, electronic components, or packaged goods.

[0092] The gripper 10 may include a plurality of vacuum zones 100. Each vacuum zone 100 may comprise a head 110 configured to disengageably engage the part 50. The head 110 may be equipped with a vacuum interface or another engagement mechanism, thereby enabling the vacuum zones 100 to be activated or deactivated as needed. In some embodiments, the plurality of vacuum zones 100 may be arranged to operate independently and / or collaboratively, thereby facilitating the picking, holding, and placing of the part 50 in scenarios involving multiple parts of varying shapes or surface characteristics.

[0093] At least one of the vacuum zone from the plurality of vacuum zones 100 may be an independent vacuum zone. The independent vacuum zone may be selectively activated or deactivated, thereby allowing the separate picking, holding, or placing of a part 50 without disrupting other vacuum zones. This independent vacuum zone may function autonomously when handling parts 50 with unique shapes or when parts 50 are situated in close proximity. One or more additional independent vacuum zones may be included, for example, to manage multiple parts 50 of different materials or sizes. Each independent vacuum zone may share a common vacuum system 150 with dedicated valves or may be equipped with an individual vacuum generation mechanism, ensuring localized and targeted engagement.

[0094] The independent vacuum zone may operate independently, thereby enabling the gripper 10 to pick, hold, and place the part 50 among closely packed adjacent parts. The independent vacuum zone may be regulated by a separate control signal or vacuum supply line, activated and deactivated without affecting other vacuum zones. Such a configuration may allow a targeted vacuum force by opening or closing a dedicated valve, forming a localized vacuum seal on the part 50, for example, a wood panel or circuit board, while preventing interference with adjacent parts. Independent vacuum zones may be combined with others to facilitate gripping configurations for parts in varying positions or orientations. Such capability may allow the gripper to handle different parts or configurations flexibly, particularly among closely packed parts. The independent vacuum zones may handle parts with variousshapes, sizes, and surface characteristics, enhancing versatility and efficiency across industries, for example, automotive, electronics, food and beverage, pharmaceutical, textile, packaging, glass, aerospace, consumer goods, and logistics. The zones may be arranged to maximize the gripping area and allow for independent control, adjusting vacuum force to accommodate parts with different weights and surface conditions. By lowering over the parts and activating necessary zones, the gripper may lift the parts without interfering with adjacent ones.

[0095] In certain configurations, a vacuum zone from the plurality of vacuum zones 100 may incorporate a vacuum chamber 140. The vacuum chamber 140 may be engineered to create suction with the assistance of a vacuum system 150 operatively linked to the vacuum chamber 140. The vacuum chamber 140 may be tailored to produce a specific localized vacuum force. The vacuum system 150 may include components such as pumps and sensors that may evacuate air pressure from inside the vacuum chamber 140. Such a configuration may ensure that a low- pressure environment is maintained within the vacuum chamber 140, thereby facilitating the generation of the vacuum force necessary for engaging the part 50. The vacuum system 150 may be adaptable to enhance suction based on the dynamics and specifications of the part 50 being handled; this may include aspects like the shape and weight of the part 50. The arrangement may also have seals or gaskets within the vacuum chamber 140 to assure an airtight interaction with the surface of the part 50, thereby preserving the integrity of the suction.

[0096] The vacuum chamber 140 may be operatively coupled with the head 110 to deliver suction to the head 110 during interaction with the part 50. The coupling may involve a connection whereby the vacuum chamber 140 communicates suction force to the head 110, allowing for effective engagement when the head 110 contacts the part 50. The vacuum chamber 140 may thereby facilitate the generation of sufficient vacuum pressure required for securing the part 50 to the head 110. The connection between the vacuum chamber 140 and the head 110 may be designed to efficiently transmit the vacuum force, thereby ensuring reliable interaction with the part 50 during handling operations.

[0097] The vacuum system 150 may be operatively connected with the vacuum chamber 140 to facilitate air pressure evacuation using mechanisms such as vacuum pumps. The system may consistently provide vacuum levels to securely engage the part 50 and may include components such as valves and sensors for effective regulation thereof. Efficient evacuation may enable rapid adjustments during part handling. Mechanical pumps, for example, rotary vane pumps using rotating vanes, diaphragm pumps using a flexible diaphragm, and turbomolecular pumps using high-speed rotating blades for very low pressures, may be used. Ejector-based generators, such as venturi vacuum systems 150, may use compressed air and may be advantageous in compact, lightweight environments. Oil-sealed rotary pumps may use oil for sealing and lubrication, thereby enhancing vacuum capability. Conversely, dry screw pumps may operate with screw rotors to compress and evacuate air without oil, suitable for cleanroom environments.

[0098] The vacuum system 150 may be designed to pre-evacuate the air pressure from the vacuum chamber 140 before engaging with the part 50, thereby ensuring that the part 50 may be engaged within 250 milliseconds of making contact with the head 110 of the vacuum-chamber-equipped vacuum zone.

[0099] A vacuum-chamber-equipped vacuum zone may optionally include a pressure sensor. The pressure sensor may be configured to measure the air pressure within the vacuum chamber 140, thereby facilitating monitoring of the vacuum level during operations. This capability may enable consistent suction force by the vacuum system 150 by providing real-time feedback to a control unit, allowing adjustments to the vacuum force for optimal operation. When the air pressure in the vacuum chamber 140 may be detected to be below a predetermined safety threshold during the picking and holding process of the part 50, the acceleration of the gripper 10 may be reduced. This precautionary measure may moderate the force applied by the gripper 10 in relation to real-time pressure readings, ensuring stability and safe handling of the part 50. The safety threshold may be predetermined based on operational requirements and characteristics of the part 50, such as weight and material. The sensors may also detect the presence and position of the part 50, ensuring that the vacuum zones 100 are properly aligned before applying suction. Feedback may also be provided to the control system of the gripper 10, allowing for real-time adjustments.

[0100] The vacuum chamber 140 may be dedicated to the vacuum-chamber-equipped vacuum zone, thereby facilitating specialized functionality. Alternatively, or additionally, the vacuum system 150 may be dedicated to the vacuum-chamber-equipped vacuum zone. Exclusive assignments of the vacuum chamber 140 and the vacuum system 150 may improve efficiency and accuracy of vacuum force application, allowing concentration solely on operations of a single vacuum-chamber-equipped vacuum zone without sharing resources with others. This configuration may be advantageous for scenarios requiring precise suction control, thereby maintaining performance of the vacuum-chamber-equipped vacuum zone. Alternatively or additionally, the vacuum system 150 may be configured to operate with multiple vacuum chambers. The vacuum chambers may vary in size and shape to accommodate different parts. The vacuum system 150 may be capable of adjusting vacuum force based on requirements of the part being handled. The vacuum system 150 may be controlled by a central control unit, which may coordinate operation of multiple vacuum chambers 140 and vacuum zones 100. The control unit may adjust vacuum force and activation timing based on properties of the part 50 and requirements of the production line.

[0101] The vacuum system 150 may be configured to evacuate the vacuum chamber 140 ahead of picking the part 50. The pre-evacuation of the vacuum chamber 140 may create a low-pressure environment within the chamber before the vacuum-chamber-equipped vacuum zone engages with the part 50. The vacuum system 150 may activate in advance to ensure that the necessary vacuum force is ready for immediate use. By evacuating the vacuum chamber 140 ahead of time, the vacuum system 150 may enable the part 50 to be picked quickly. The rapid generation of suction may allow the part 50 to be engaged within 250 milliseconds of being in contact with the vacuum-chamber-equipped vacuum zone. The pre-evacuation process may involve components such as vacuum pumps, valves, and sensors. The vacuum pumps may continuously maintain the low-pressure environment within the vacuum chamber 140. Valves may control the flow of air, ensuring that the vacuum chamber 140 remains evacuated until needed. Sensors may monitor the pressure levels within the vacuum chamber 140 to confirm that the desired vacuum level is achieved and maintained. The vacuum system 150 may be controlled by a central control unit, which may synchronize the timing of the vacuum generation with the operations of the production line. The control unit may receive signals indicating when a part 50 is approaching the vacuum-chamber-equippedvacuum zone. Upon receiving the signal, the control unit may ensure that the vacuum chamber 140 is evacuated and ready for immediate engagement.

[0102] The plurality of vacuum zones 100 may include various configurations concerning the density of vacuum zones per unit area. In a high density configuration, at least 8 vacuum zones may be distributed across a given area, achieving at least 55 vacuum zones per square meter. The inclusion of at least eight vacuum zones 100 may enable the gripper 10 to handle parts 50 with complex shapes and varying surface conditions. For example, the gripper 10 may be used in industries such as aerospace, where parts 50 may have intricate geometries and may require precise handling. The multiple vacuum zones 100 may ensure a secure grip on parts 50 with uneven surfaces or irregular edges. The capability to operate multiple vacuum zones 100 independently may also allow the gripper 10 to engage parts 50 from different angles and orientations.

[0103] Alternatively, in a low density configuration, the distribution may involve at least 4 vacuum zones, ensuring that no more than 35 vacuum zones are positioned per square meter. Such configurations may allow for adjustments according to the specific requirements of the part 50 being handled, thereby enabling the flexibility of the gripper 10 in accommodating different surface interactions or part dimensions. The high density configuration with vacuum zones 100 may allow the gripper 10 to handle parts 50 with complex shapes and varying sizes; however, it may not be as cost effective as the low density embodiment.

[0104] In one embodiment, the vacuum zones 100 may be arranged in a grid or other systematic pattern to maximize coverage and efficiency. The arrangement may ensure sufficient overlap or proximity between adjacent vacuum zones 100 to secure parts 50 with irregular or uneven surfaces. The grid pattern may be used in applications where parts 50 have intricate geometries or require precise handling.

[0105] As depicted in Figure 5, Figure 7 and Figure 16, in embodiments, the plurality of vacuum zones 100 may include a configuration comprising a first vacuum zone and the vacuum zone nearest thereto, as well as a second vacuum zone and the vacuum zone nearest to the second one. The spatial relationship between the first vacuum zone and its nearest vacuum zone may define a first distance, while the arrangement between the second vacuum zone and its nearest vacuum zone may determine a second distance. These distances may vary, resulting in an irregular pattern of the vacuum zones 100. The configuration may accommodate different part geometries or optimize engagement with varying surface characteristics. The irregular pattern may strategically position vacuum zones to maximize coverage or to serve specific handling requirements of the parts 50 being managed.

[0106] In one embodiment, the plurality of vacuum zones 100 may be arranged in an asymmetrical pattern along at least one of the lateral or longitudinal axes. This arrangement may cause the vacuum zones 100 to form distinct configurations when the gripper 10 is rotated by 180 degrees. The asymmetry in the pattern may allow the gripper 10 to adapt to various part orientations during handling, thereby enabling flexible engagement strategies for parts 50 with differing alignment requirements. The difference in configuration upon rotation may offer a tailored approach for the gripper 10 to manage diverse part 50 geometries or logistical scenarios effectively, ensuring consistent performance in varying orientations. This design strategy may support the handling of parts 50 with unique shapes or surface features by leveraging the varied suction distribution created by the asymmetrical pattern.

[0107] The vacuum zones 100 may vary in size and shape depending on the specific application. For example, smaller vacuum zones 100 may be used for handling delicate or small parts, such as electronic components or medical devices. Larger vacuum zones 100 may be used for handling bigger parts, such as automotive panels or large sheets of material. The vacuum zones 100 may include features such as flexible seals or gaskets to ensure a tight grip on parts with varying textures and surface conditions. The flexible seals may allow the vacuum zones 100 to conform to the surface of the part 50, thereby improving the suction and grip. The high density of vacuum zones 100 may facilitate handling multiple parts 50 simultaneously. For instance, in a production line where parts 50 are closely packed, the gripper 10 may engage multiple parts 50 at once or sequentially, enhancing productivity and throughput.

[0108] In embodiments, the gripper 10 may include eight or more vacuum zones 100. The inclusion of multiple vacuum zones 100 may provide flexibility to handle a variety of parts 50 and applications. Each vacuum zone 100 may operate independently, allowing adaptation to different part 50 geometries and sizes. The vacuum zones 100 may be strategically placed to optimize the gripping capability of the gripper 10. The placement may be determined based on the typical parts 50 handled in a specific production line. For example, in a packaging line, the vacuum zones 100 may be arranged to handle boxes and containers of various dimensions. The vacuum zones 100 may include mechanisms for adjusting the vacuum force applied to the parts 50. The adjustment may be necessary to handle parts 50 with different weights and material properties. For instance, lightweight parts 50 may require less vacuum force compared to heavier parts 50.

[0109] In embodiments, at least one vacuum zone from the plurality of vacuum zones 100 may be a vacuum-cup- equipped vacuum zone wherein the head 110 may include a vacuum cup 130 made of a flexible material to absorb minor irregularities on a surface of the part 50 therewith. The flexible material may include silicone, rubber, and / or another elastomer, and may be selected to conform to the shape of the part 50, thereby forming a sealed interface and facilitating a vacuum engagement. The vacuum cup 130 may be sized or shaped to accommodate different surface conditions of the part 50 and may be operatively connected to a vacuum system 150 that provides suction for picking, holding, and / or placing the part 50. Examples of parts 50 may include glass sheets, sheet metal parts, plastic assemblies, and wood panels. The vacuum cup 130 may be designed to provide a consistent and reliable suction force. The design may include features such as a contoured edge or a textured inner surface to improve the seal between the vacuum cup 130 and the part 50.

[0110] In embodiments, the vacuum cup 130 may be used in industries where parts 50 with variable surface conditions are common. For example, in the automotive industry, the vacuum cup 130 may handle metal panels with surface variations due to stamping processes. In the electronics industry, the vacuum cup 130 may engage with circuit boards that have components protruding from their surfaces. The vacuum cup 130 may be operatively connected to the vacuum system 150. The connection may allow the vacuum cup 130 to generate the necessary suction force to pick, hold, and place the part 50. The vacuum system 150 may provide a consistent vacuum level to the vacuum cup 130, ensuring reliable operation. The vacuum cup 130 may also be designed to minimize damageto delicate parts 50. The flexible material may cushion the part 50 during engagement, reducing the risk of scratches or other surface damage.

[0111] In embodiments, the vacuum cup 130 may be an elongated vacuum cup, for example oval or rectangular shaped, where a ratio of the length to the width may be at least 2, thereby improving the stability of the part 50 when applying a moment to the part 50 parallel to the length while engaging the part 50 with the elongated vacuum cup 130. The elongated vacuum cup 130 may include a flexible rim arranged to conform to a surface of the part 50, thereby providing a sealed interface for the elongated vacuum cup 130.

[0112] Optionally, a first elongated vacuum cup may be used, and the plurality of vacuum zones 100 may include a second, broadly perpendicular elongated vacuum cup 130 positioned at an angle between 45 and 135 degrees relative to the first elongated vacuum cup 130. The collaboration between the first and second elongated vacuum cups 130 may enhance the stability of the part 50 when applying a moment perpendicular to the length. A moment perpendicular to the length refers to forces acting on the part 50 in a direction perpendicular to the longitudinal axis of the elongated vacuum cups 130, causing rotational forces that may be counteracted by the two vacuum cups 130 working together. Examples of parts 50 that may benefit include elongated items such as metal strips, wooden beams, or plastic components. In a woodworking production line, the two vacuum cups 130 may grip a wooden beam at different angles, providing enhanced stability during transportation. In the wood panel furniture assembly industry, the vacuum cups 130 may secure large cabinet panels or long table tops, preventing them from rotating or shifting during placement.

[0113] Alternatively, or additionally, the plurality of vacuum zones 100 may include a parallel vacuum-cup-equipped vacuum zone with a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup. The parallel elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part 50, thereby improving stability to the part 50 when a moment is applied parallel to the length. The moment parallel to the length may refer to forces acting along the longitudinal axis of the elongated vacuum cups 130. Forces may cause the part 50 to experience bending or twisting along its length. The use of multiple parallel vacuum cups 130 may distribute forces more evenly, reducing the likelihood of the part 50 bending or shifting. Examples of parts 50 that may benefit may include long and narrow items such as wooden beams, metal strips, and / or elongated plastic components. In a wood panel furniture assembly line, multiple parallel vacuum cups 130 may grip a long wooden panel, providing additional support and stability during handling.

[0114] The elongated shape may be used to distribute the applied forces more evenly across the surface of the part 50, reducing the likelihood of tipping or shifting and may provide increased stability when handling parts 50 that are long and narrow, such as metal strips, wooden beams, or elongated plastic components. Other examples of parts 50 that may benefit from the stability provided by the elongated vacuum cup 130 may include flat panels, boards, or sheets. The parts 50 may be used in various industries, including construction, automotive, and packaging. The elongated vacuum cup 130 may be operatively connected to the vacuum system 150. The vacuum system 150 may provide the necessary suction force to maintain the stability of the part 50 during handling. The connection mayensure that the vacuum cup 130 remains effective in gripping and holding the part 50 throughout the production process.

[0115] The elongated vacuum cup 130 may be made of a flexible material to absorb minor irregularities on the surface of the part 50, and the flexibility may enhance the stability by conforming to the surface of the part 50, ensuring a secure grip, and providing tolerance when accelerating the part vertically or laterally. The material may be selected based on the durability and ability to maintain suction over the elongated contact area. The elongated shape of the vacuum cup 130 may contribute to the stability of the part 50 against torque. A moment applied on the part 50 may tend to rotate the part 50 around the center of the vacuum cup 130. The elongated shape may allow stronger resistance to the moment since the air pressure is applied farther from the center of the vacuum cup 130, counteracting the moment. A greater distance from the center may create a larger lever arm, thereby providing greater resistance to rotational forces. This resistance may be beneficial when handling parts 50 subject to moments or torque, such as elongated panels or beams. When the part 50 rotates downward, the shape of the elongated vacuum cup 130 may cause a larger change in the internal volume compared to a circular vacuum cup. An increase in volume may result in a greater decrease in pressure inside the vacuum cup 130, enhancing the vacuum effect. A stronger vacuum increases the suction force, providing additional stability against rotational forces. An increased suction force may counteract the torque applied to the part 50, ensuring that the part 50 remains securely gripped.

[0116] The elongated shape may improve robustness against moment without affecting the capability of the vacuum cup 130 to engage securely with small elongated parts 50. A vacuum cup 130 measuring 30 mm by 80 mm, for instance, may expose the same surface area as a circular vacuum cup with a diameter of 49 mm, and may provide enhanced robustness on large, elongated parts 50 while also having the ability to hold smaller parts 50 with a width between 30 and 49 mm. An elongated vacuum cup 130 may be suitable for flat panels, boards, or sheets.

[0117] In some embodiments, the picking vacuum zone 100 or the vacuum cup 130 may be rotated to align with the orientation according to the part 50 being picked. The vacuum cup 130 may rotate to ensure optimal contact with the surface of the part 50, thereby enhancing the grip and stability. The rotation of the vacuum cup 130 may be controlled to match the specific geometry or alignment requirements of different parts 50.

[0118] In embodiments, the elongated vacuum cup 130 may be used in combination with other vacuum cups 130 to handle parts 50 with complex geometries. Multiple elongated vacuum cups 130 may be arranged in parallel or at angles relative to each other to provide additional stability and support. A mixture of angles may be used in applications where parts 50 have varying dimensions and require precise handling.

[0119] In embodiments, at least one vacuum zone from the plurality of vacuum zones 100 may be a circular vacuum- cup-equipped vacuum zone comprising a circular vacuum cup. The circular vacuum cup may provide a rotational freedom, allowing the gripper 10 to rotate relative to the part 50 while being at least partially engaged with the part 50. The rotational freedom may include a capability for the circular vacuum cup to pivot about a central axis, thereby enabling the gripper 10 to adjust orientation when surfaces of the part 50 are curved or slightly misaligned. Handling round or cylindrical containers, for example, may involve the circular vacuum cup revolving slightly to follow the curvature of the container. The circular vacuum cup may also provide a lateral freedom, allowing the gripper 10 tosquare the part 50 while being at least partially engaged with the part 50. The lateral freedom may refer to the ability to shift or slide the circular vacuum cup sideways while maintaining suction, thereby facilitating precise positioning of the part 50. For instance, a conveyor line with boxes placed at inconsistent angles may benefit from the circular vacuum cup shifting the box laterally until edges are squared relative to downstream equipment. This configuration may accommodate parts 50 with minor offsets during engagement, thereby improving the handling of components that are not consistently aligned.

[0120] The vacuum cup 130 may be replaceable or interchangeable. The ability to replace the vacuum cup 130 may facilitate maintenance and allow for quick adaptation to different parts 50 or production requirements. The replaceable design may also extend the lifespan of the gripper 10 by allowing worn or damaged vacuum cups 130 to be replaced efficiently. In embodiments, the elongated vacuum cup 130 may be adjustable. The length and width of the vacuum cup 130 may be modified to suit specific parts 50 or production requirements. The adjustability may allow the gripper 10 to adapt to different handling scenarios.

[0121] As depicted in Figure 16, in one embodiment, at least one vacuum zone from the plurality of vacuum zones 100 may be a dual vacuum zone 102 with the head 110 comprising a pair of vacuum cups having a first vacuum cup and a second vacuum cup. The first vacuum cup may be positioned closer to the second vacuum cup than any other vacuum cup from the plurality of vacuum zones 100, and the second vacuum cup may be positioned closer to the first vacuum cup than any other vacuum cup from the plurality of vacuum zones 100. The pair of vacuum cups may define a collaboration line extending between the two vacuum cups, and the first vacuum cup and the second vacuum cup may collaborate when picking and holding the part 50, allowing a shared distribution of vacuum force. This configuration may enhance a stability to the part 50 when applying a moment parallel to the collaboration line since the pair of vacuum cups may together support the part 50 against rotational or bending forces. The first vacuum cup and the second vacuum cup may share a vacuum supply or each may have a separate vacuum conduit, thereby enabling control of the vacuum force at each cup. The dual vacuum zone 102 may be arranged for parts 50 with elongated geometries or surfaces requiring greater stability. The collaboration line may align with a primary axis of the part 50 or may be positioned at an angle to accommodate different shapes. The dual vacuum zone 102 may employ flexible materials for the pair of vacuum cups or may incorporate rigid materials if the part 50 has a more uniform surface. Examples of parts 50 engaging the dual vacuum zone 102 may include wooden beams, sheet metal components, or plastic assemblies that require enhanced stability when lifted or placed in a production line. The pair of vacuum cups may be spaced optimally to ensure that each vacuum cup contacts the part 50 firmly, thereby improving an overall reliability of engagement.

[0122] Reference may be made to Figure 5, Figure 7, and Figure 16 concurrently. In Figure 5, an exemplary layout may include a mixture of 22 collaborative vacuum cups 130. The layout may be organized so that strategic vacuum cups 130 are oriented parallel and perpendicular to others. By aligning two or more vacuum cups 130 oriented in the same direction, for example, [Z2, Z7], [Z12, Z17], [Z4, Z9], [Z14, Z19], vacuum cups 130 may collaborate to support long parts 50 extending outside of the gripper 10. By positioning two or more perpendicular vacuum cups 130 proximate to one another, for example, [Z1 , Z2], and [Z16, Z17], the gripper 10 may be capable of lifting largeparts 50 extending in both directions horizontally, such as table tops. In Figure 16, the layout may be asymmetrical and may rely on a combination of circular vacuum cups, some of which may be used in a dual vacuum zone 102. When the layout of Figure 16 may be rotated by 180 degrees, a different layout may be obtained, contributing to the versatility of the solution.

[0123] In embodiments, one or more picking vacuum zones 100 may be configured to generate a lift force of at least 75N and at least 400 mBar individually. The lift force may refer to the amount of force exerted by a vacuum zone 100 to lift a part 50. The force of 75N may, in theory, allow the gripper 10 to handle parts 50 with weights up to approximately 7.5 kilograms, assuming standard gravitational acceleration. In practice, the actual maximum weight that may be lifted using a vacuum cup 130 may be lower when the part 50 requires vertical acceleration while being picked. For instance, it was found through experimentation that a single 30 mm x 80 mm oval vacuum cup 130 with a 600 mBar vacuum may drop a part 50 exceeding 2.75 kg. One reason for the observed limit being lower than the theoretical one may be that a single vacuum cup 130 may act as a pivot point when lifting the part 50. Acceleration of the part 50— vertical or lateral— may create a torque that may resist the acceleration, causing rotational acceleration. When used with at least one other vacuum cup 130, the pivot effect may be reduced. A pair of vacuum cups 130 may, when used collaboratively on a part 50, have a picking capacity greater than twice the picking capacity of each vacuum cup 130 when used independently.

[0124] A vacuum pressure of 400 mBar may be achieved through vacuum systems 150 or other vacuum-generating devices. The pressure of 400 mBar may indicate a vacuum level where the absolute pressure is reduced by 400 mBar from atmospheric pressure, thereby creating a differential pressure that contributes to the lift force.

[0125] In one embodiment, the vacuum cup 130 associated with the vacuum-cup-equipped vacuum zone may be sized at approximately 30 mm x 80 mm. The surface area of the vacuum cup 130 may be approximately 1885 square millimeters, calculated by using the formula (30 / 2 mm x 80 / 2 mm x TT). The vacuum pressure of 400 mBar applied over the surface area may generate a lifting force of approximately 75 N.

[0126] Reference is now made to the drawing in which Figure 14 depicts an exemplary embodiment of a vacuum zone 100 for a gripper, in accordance with the teachings of the present invention. In one embodiment, at least one vacuum zone from the plurality of vacuum zones 100 may be an actuated vacuum zone with an actuator 120. The actuator 120 may be operatively connected with the head of the actuated vacuum zone, enabling it to retractably extend toward the part 50. The actuator 120 may be a pneumatic cylinder configured to provide linear motion or a servo-driven screw mechanism providing a selectable extension stroke. The actuator 120 may also be a hydraulic assembly allowing higher force capacity. A position sensor may be incorporated into the actuator 120 to measure extension and retraction, thereby facilitating precise control of the actuated vacuum zone when reaching a part 50. The actuator 120 may permit adaptation to variations in height or shape of the part 50, ensuring adequate engagement by supplying the actuated vacuum zone with adjustable travel. The actuated vacuum zone may be configured to extend when picking, holding, and placing a second overlapping part 50 while the gripper 10 is holding the part 50 concurrently.

[0127] The part 50 may be a first part, and the actuated vacuum zone may extend when engaging a second overlapping part while engaging the first part concurrently. The second overlapping part may be stacked, placed in partial overlap with the first part, or contact the first part at an edge. The actuated vacuum zone may adjust its extension to ensure that the second overlapping part is engaged without releasing the first part, thereby enabling concurrent holding of multiple parts composed of different shapes or materials. Examples of overlapping parts 50 may include two wood panels, two sheet metal parts, or a sheet metal part overlapping a plastic assembly. Operations such as picking, lifting, and positioning of the second overlapping part may be accomplished by the actuated vacuum zone while the first part remains engaged. The ability to handle overlapping parts may allow the gripper 10 to manage parts 50 that are densely packed or layered. The gripper 10 may adapt to various part configurations and orientations.

[0128] In addition to allowing the gripper 10 to reach specific parts, the actuator may provide additional versatility. The gripper 10 may be mounted on a multi-axis system. Common systems may include 4-axis, 5-axis, and 6-axis mounts. The 4-axis mounts, sometimes referred to as palletizing robots, may provide horizontal freedom, vertical freedom, and rotational freedom around the vertical axis. The 5-axis and 6-axis mounts may provide additional rotational freedom, at the cost of additional assembly parts and operational complexity, often resulting in slower operations. By using an actuator, many use cases that previously required 5 or 6-axis mounts may now be achieved using a 4-axis mount. For example, when parts may have an angled or irregular surface, it may be possible to engage the part by extending the actuators to adapt the vacuum zones to the angled or irregular surface. In addition to enabling functionality on simpler mounts, which may also be generally more cost-effective, operation speed may also be improved.

[0129] In one embodiment, the actuated vacuum zone may extend, when picking the part 50, thereby defining an incline with one or more other vacuum zones and enabling the gripper 10 to engage the part 50 with an uneven force at two or more picking locations on the part 50. A stroke provided by an actuator operatively connected to the head 110 may be used to retractably extend the actuated vacuum zone, causing a physical offset relative to the remaining vacuum zones. This offset may position the actuated vacuum zone at a different height from another or multiple vacuum zones, thereby producing the incline. The resulting incline may distribute a portion of the vacuum force across several contact points on the part 50, causing the part 50 to be engaged at different levels of compression or extension. This uneven force may allow the part 50 to lift first from one side, allowing air to flow underneath and preventing a vacuum from pulling the part 50 back. The position of the actuated vacuum zone may be adjusted relative to the other vacuum zones 100, thereby accommodating parts 50 with complex geometries, varying thicknesses, or surface contours.

[0130] In one embodiment, the actuator 120 may retractably extend the actuated vacuum zone toward the part 50 by at least 80 mm. The stroke of the actuator 120 may accommodate taller parts 50 or stacked items without altering a positioning of the gripper 10. Pneumatic or mechanical means may drive the actuator 120 and one or more sensors may monitor the extension during operation. The extension of at least 80 mm may occur either incrementally or continuously, thereby allowing the actuated vacuum zone to clear potential obstructions and engage the part 50 atvariable heights. Examples may include wooden panels exceeding 60 mm in total thickness or overlapping components with combined heights approaching the extension limit.

[0131] Optionally, the actuator 120 may withstand a lateral torque of at least 1 N m, thereby enabling the gripper 10 to apply a twisting force on the part 50 while the part 50 is at rest on a surface. The lateral torque may be measured around an axis perpendicular to a direction of extension of the actuator 120. The actuator 120 may be configured to resist bending or twisting under load, allowing the gripper 10 to slide the part 50 horizontally. Examples of parts 50 that may be slid on the surface may include a wood panel, a sheet metal part, or a circuit board, where lateral movement may be used to reposition the part 50 without lifting.

[0132] In embodiments, at least one vacuum zone from the plurality of vacuum zones 100 may be a compressible vacuum zone with a compressible length configured to decompressably compress, providing a tolerance when engaging the part 50. The compressible length may be sized to accommodate variations in thickness, allowing the gripper 10 to descend onto the part 50 without precise proximity monitoring. The compressible vacuum zone may decompress upon lifting the part 50, causing an uneven force distribution when used together with another vacuum zone, thereby enabling air to enter under the part 50. The compressible vacuum zone may include components such as elastomeric materials or pneumatic dampeners, which may withstand repeated compression cycles. Components may be used for parts 50 positioned at slight angles or with minor surface irregularities, preventing damage to parts 50 that are slightly larger than expected and ensuring consistent engagement during operations.

[0133] In embodiments, picking vacuum zones 100 may include a compressible dampener configured to decompressably compress over a compressible length of at least 20 mm, thereby providing a tolerance when engaging the gripper 10 onto the part 50. A length of 20 mm may enable the gripper 10 to descend slightly lower than needed to ensure proper engagement even on thinner parts 50, while preventing damage to parts 50 that are slightly larger than expected. The compressible dampener may absorb variations in the shape of the part 50, ensuring a consistent performance of the gripper 10.

[0134] Optionally, the compressible length may be at least 20 mm. The implementation of the compressible length may include a pneumatic, hydraulic, foam, rubber, or other elastomeric dampener configured to withstand repeated compression and decompression. The compressible length may allow the vacuum zone to compensate for variations in thickness or minor misalignments of the part, thereby providing a tolerance that may prevent damage when the gripper applies a downward force. The compressible length may also enable the vacuum zone to descend onto the part without close proximity monitoring, ensuring consistent contact for vacuum engagement.

[0135] Optionally, the compressible vacuum zone may decompress when the part 50 is lifted, causing the part 50 to be picked with an uneven force when collaborating with a second vacuum zone of the plurality of vacuum zones 100, thereby allowing air to fill a vacuum underneath the part 50. The compressible vacuum zone may include a compressible length configured to accommodate minor variations in thickness or an angled orientation of the part 50. The second vacuum zone may fully engage the part 50 once the compressible vacuum zone is partially lifted, resulting in an uneven distribution of picking force across two or more vacuum zones 100. The compressible vacuum zone may be implemented using elastomeric materials, pneumatic dampeners, or hydraulic dampeners, therebyfacilitating repeated compression and decompression during handling. The plurality of vacuum zones 100 may include a second vacuum zone configured to collaborate with the compressible vacuum zone when the part 50 is picked, wherein a surface of the part 50 may be at an angle. When the gripper 10 is lowered over the angled part 50, the compressible dampener may compress as the compressible vacuum zone engages the angled part 50. The gripper 10 may continue approaching the part 50 until the second vacuum zone engages with the part 50. In embodiments, the angle may be between 0.5 and 4 degrees. An angle that is too small may not allow the part 50 to initially lift from one side, and an angle that is too large may cause a difference between the vacuum zones 100 beyond the available tolerance provided by the compressible dampener. Examples of parts 50 that may be picked using this configuration may include items with non-flat surfaces or parts 50 positioned at slight angles on a conveyor belt, such as beveled glass panels, angled metal sheets, or products with minor deformations. The ability to handle angled surfaces may enhance the versatility of the gripper 10 in various industrial applications, including automotive manufacturing, electronics assembly, and packaging lines.

[0136] The compressible vacuum zone may include an internal chamber or bellows configured to decompress in response to the actuator, allowing a controlled compression over the compressible length. The pneumatic actuator may be regulated by a pressure source, thereby providing a predictable rate of compression and decompression.

[0137] In embodiments, at least one vacuum zone from the plurality of vacuum zones 100 may be a cleanable picking vacuum zone including an opening 145 intended for injecting pressurized air, thereby facilitating maintenance. Debris, dust, and other contaminants may be dislodged with the pressurized air, maintaining the efficiency and functionality of the picking vacuum zone included in the cleanable picking vacuum zone. The opening 145 may be strategically placed to ensure thorough cleaning of critical areas, thereby reducing downtime associated with manual cleaning and extending the operational lifespan of the gripper 10. Regular maintenance using pressurized air may prevent blockages and ensure consistent vacuum performance. This consistent vacuum performance may be important in dusty or dirty environments, such as packaging lines handling cardboard boxes or woodworking lines generating sawdust. By enabling easy and efficient cleaning, the cleanable picking vacuum zone may help maintain reliable suction in industries involving materials like powders or adhesives.

[0138] In embodiments, the gripper 10 may include an air knife 160 to blow air on the part 50, thereby improving a suction seal between the plurality of vacuum zones 100 and the part 50 by reducing dust and debris on the surface of the part 50. The air knife 160 may direct a controlled stream of air onto the part 50. The air knife 160 may be positioned in proximity to the plurality of vacuum zones 100, ensuring effective air reach to the surface of the part 50. The directed air may dislodge and remove dust, debris, or other contaminants from the surface of the part 50. The improvement in the suction seal may result from a cleaner surface provided by the air knife 160. A cleaner surface may allow the plurality of vacuum zones 100 to form a more effective and airtight seal with the part 50. The improved seal may enhance the gripping force and stability during the handling process. The air knife 160 may be configured to operate at specific intervals or continuously, depending on the application requirements. The air pressure and flow rate of the air knife 160 may be adjustable to ensure optimal cleaning without damaging the part 50. The material and design of the part 50 may influence operational parameters of the air knife 160. Examples ofparts 50 that may benefit from the use of an air knife 160 include electronic components with sensitive surfaces, such as circuit boards and semiconductor wafers. The air knife 160 may remove fine dust particles that could interfere with vacuum suction. In a packaging line, the air knife 160 may clean the surface of cardboard boxes or plastic containers, ensuring a reliable grip by the plurality of vacuum zones 100. In the automotive industry, parts 50 such as metal panels or plastic components may accumulate debris during manufacturing processes. The air knife 160 may blow air onto the parts 50 to remove contaminants, thereby aiding the plurality of vacuum zones 100 in forming a strong seal. The air knife 160 may also be useful in the food and beverage industry, where cleanliness is critical, and parts 50 such as packaging materials require a clean surface for effective handling. The air knife 160 may be made of durable materials capable of withstanding continuous use in industrial environments. The design of the air knife 160 may include features such as adjustable nozzles or blades to control the direction and intensity of the air stream. The incorporation of the air knife 160 may enhance the overall functionality and reliability of the gripper 10 by maintaining a clean surface on the parts 50 being handled.

[0139] As depicted in Figure 8 and Figure 9, the gripper 10 may include a sweeper arm 170 for sweeping one or more misplaced parts 50. The sweeper arm 170 may be configured to retractably extend beyond the plurality of vacuum zones 100. The sweeper arm 170 may be configured to manage parts 50 that are not correctly positioned. The extension and retraction capability may allow the sweeper arm 170 to clear misplaced parts 50 from the working area. Misplaced parts 50 may refer to parts not in the intended position for picking, holding, or placing. The sweeper arm 170 may move misplaced parts 50 into the correct position or clear misplaced parts 50 from the working area entirely. The retractable configuration of the sweeper arm 170 may allow the sweeper arm 170 to be stowed away when not in use, minimizing interference with primary operations of the gripper 10. The sweeper arm 170 may be made of durable materials capable of withstanding repeated use in industrial environments.

[0140] Reference may be made to Figure 8 and Figure 9 concurrently. In one embodiment, the sweeper arm 170 may be lowered until a sensor reports that the sweeper arm 170 is in a fully extended configuration. The sweeper arm 170 may include a sweeper arm extender 175 to retractably extend the sweeper arm 170 from a sweeper arm docked configuration to a sweeper arm deployed configuration beyond the plurality of vacuum zones 100. The sweeper arm extender 175 may be a linear actuator, a telescoping mechanism, or a pneumatic cylinder configured to move the sweeper arm 170 along a predetermined path. The sweeper arm 170 may be used to push, nudge, or redirect parts that are out of place or interfering with the operation of the gripper 10. Examples of parts that may be reoriented or cleared using the sweeper arm 170 may include small pieces of debris, misaligned boxes, or partial offcuts from a production process. The sweeper arm 170 may return to the sweeper arm docked configuration once the sweeping task has been conducted, thereby avoiding interference with continued picking and placing operations. When a part 50 interferes with the extension of the sweeper arm 170, the sweeper arm 170 may be retracted. The shape of the sweeper arm 170 may be such that when pushing a part 50 into an obstacle, the sweeper arm 170 may be raised, thereby detecting that an obstacle is blocking the part 50 being pushed. In one embodiment, the sweeper arm 170 may be used to push overlapping wood panels into a non-overlapping configuration.

[0141] Optionally, a sensor may detect a blocking part engaging the sweeper arm 170. The sensor may be any device that measures contact or near contact between the sweeper arm 170 and the blocking part. The blocking part may be a misplaced part or leftover component interfering with the sweeper arm 170. The detection signal may be output by the sensor, enabling operation of the sweeper arm 170 to be adjusted or halted when contact with the blocking part is detected.

[0142] In embodiments, at least one vacuum zone from the plurality of vacuum zones 100 may be a detachable vacuum zone with a fastening mechanism configured to detachably attach the detachable vacuum zone to the gripper 10, facilitating a replacement and maintenance thereof. The fastening mechanism may include one or more connectors such as a quick-release clamp, a bracket assembly, or a snap-fit connection, each configured to provide a releasable attachment. The detachment of the vacuum zone may allow worn or damaged components to be removed and swapped with replacements. The detachable configuration may also accommodate different vacuum zone types on the gripper 10, enabling adaptation to varying handling requirements. The fastening mechanism may be engaged or disengaged using manual or automated operations, thereby supporting a rapid exchange of the vacuum zone for maintenance or customization.

[0143] In embodiments, the gripper 10 may include a squaring arm 180. The squaring arm 180 may be a docked arm that may be deployed for moving and aligning the part 50 laterally. The squaring arm 180 may be equipped with vacuum cups and / or one or more vacuum zones 100, thereby enabling vacuum-based engagement of the part 50 while shifting and adjusting its orientation. For example, the vacuum chamber 140 for the squaring arm 180 may be located in the main body of the gripper 10, allowing the squaring arm 180 to maintain a low profile. The squaring arm 180 may retractably extend to contact the part 50, apply lateral movements, and then return to a docked configuration when not in use. Alternatively, the squaring arm 180 may incorporate an independent vacuum system 150 or share one with another portion of the gripper 10, depending on space constraints or design preferences. The squaring arm 180 may be employed in scenarios involving misaligned parts 50 or parts 50 requiring precise lateral positioning in relation to downstream processes. Examples of applications may include a packaging line where boxes resting on a conveyor belt may need to be shifted and squared before sealing, a woodworking station where panels may be oriented to prepare for drilling or cutting operations, or an electronics assembly line where circuit boards may be aligned to ensure correct placement of components. Optionally, the squaring arm 180 may be placed on a linear actuator or pivot mechanism to accommodate specific layout constraints. The vacuum zones 100 and suction components of the squaring arm 180 may be tuned based on the expected weight or material of the part 50, ensuring stable lateral motion without dislodging other engaged parts 50.

[0144] As depicted in Figure 11 and Figure 12, the squaring arm 180 may include a squaring arm extender 185 and one or more squaring vacuum zones 188. The squaring arm extender 185 may be a linear or telescopic actuator configured to move the squaring arm 180 between a docked configuration and a deployed configuration. The one or more squaring vacuum zones 188 may be arranged on a distal end of the squaring arm 180, thereby allowing a vacuum-based engagement with the part 50 while shifting the part 50 laterally. The squaring arm extender 185 may be powered by a pneumatic, mechanical, or electrical drive, and the one or more squaring vacuum zones 188 mayinclude flexible vacuum cups or vacuum chambers, ensuring that the part 50 remains at least partially engaged for alignment. In some embodiments, the squaring arm 180 may retract after aligning the part 50, returning to the docked configuration without interfering with other components. Alternative embodiments may include multiple squaring arm extenders 185 or multiple squaring vacuum zones 188, accommodating different part 50 dimensions or varying production line layouts.

[0145] The squaring arm extender 185 may be a linear or telescopic actuator configured to retractably extend the squaring arm 180 from a squaring arm docked configuration to a squaring arm deployed configuration. The one or more squaring vacuum zones 188 may be used to engage the part 50 by applying suction while moving laterally, thereby enabling precise alignment or repositioning of the part 50. The squaring arm extender 185 may be designed to accommodate different extension strokes, thereby allowing the squaring arm 180 to handle various sizes or shapes of the part 50. For example, the squaring arm 180 may be used to laterally shift a rectangular panel until edges are in alignment with a reference or conveyor path, using the one or more squaring vacuum zones 188 to maintain engagement of the part 50 during repositioning. Alternatively, multiple squaring vacuum zones 188 may be arranged along the squaring arm 180 to support selective engagement of multiple contact points on the part 50, facilitating diverse orientations in a production environment.

[0146] Optionally, the one or more squaring vacuum zones 188 may provide a lateral freedom, referring to a capability to shift or move laterally while the part 50 remains at least partially engaged by the vacuum force. The part 50 may then be repositioned horizontally with the squaring arm 180 to align edges or surfaces according to a desired orientation, while vacuum contact is maintained with the part 50. By permitting lateral freedom, multiple sides of the part 50 may be positioned with the squaring arm 180 in accurate alignment, ensuring a stable engagement even as the part 50 may be slid or adjusted.

[0147] A second aspect of the techniques described herein relates to a method 1000 for placing a part 50 using a gripper 10 may be described. The method 1000 may include positioning 1100 the gripper 10 in an engagement configuration by moving the gripper 10 toward a location of the part 50 until at least one vacuum zone from the plurality of vacuum zones 100 may be aligned with a surface of the part 50. Additionally, engaging 1200 the part 50 may occur by activating the one or more vacuum zone, thereby creating a vacuum seal sufficient to lift or hold the part 50. Positioning 1300 the gripper 10 in a placement configuration may then involve moving the gripper 10 and the part 50 to a desired location or orientation. Disengaging 1400 the part 50 may be achieved by deactivating the one or more vacuum zone, allowing the part 50 to be released at the placement configuration. These steps may be repeated in cycles on a production line or automated system, thereby enabling flexible handling of different parts 50 using multiple vacuum zones 100. When the part 50 may be arranged among closely packed adjacent parts, the method 1000 may be implemented by selecting an incomplete subset from the plurality of vacuum zones 100 to engage only the part 50, thereby avoiding the nearby parts.

[0148] The one or more vacuum zone may include an incomplete subset of the plurality of vacuum zones 100. The incomplete subset may be selected to match a shape of the part 50, thereby allowing only a portion of the plurality of vacuum zones 100 to be activated. The incomplete subset may define a smaller picking profile to avoid nearbyparts 50 or to focus on specific areas of the part 50 without engaging other areas. The incomplete subset may be configured as a row, a column, or another irregular arrangement of vacuum zones, depending on the geometry or size of the part 50. In alternative embodiments, the incomplete subset may vary dynamically to adapt to changing placements of the part 50 or accommodate overlapping parts 50. Examples of incomplete subsets may include configurations where only perimeter vacuum zones are activated or where diagonal vacuum zones are used for narrow parts 50.

[0149] The incomplete subset may define a shape of the part 50, thereby preventing nearby parts from engaging with the gripper 10. The incomplete subset may be formed by selectively activating certain vacuum zones 100 so that only the contour or footprint of the part 50 is targeted. The incomplete subset may ensure that the vacuum effect remains localized by matching the actual geometry of the part 50 or an approximation thereof, thus avoiding unwanted interference with adjacent items. For example, vacuum zones 100 forming a rectangular outline may be selectively activated when the part 50 is a rectangular panel; alternatively, the incomplete subset may follow a curved profile for a part 50 with a round perimeter.

[0150] As depicted in Figure 17 and Figure 21 , in one embodiments, the one or more vacuum zone may be extended 1210 from the gripper 10 to reach the part 50. The extension 1210 may be achieved using an actuator that adjusts a position of the head 110, thereby allowing a vacuum interface to contact the part 50. The extension 1210 may accommodate variations in height or geometry of the part 50 by providing a selectable stroke length. The actuator may be a pneumatic cylinder, a linear motor, or a mechanical arrangement configured to move the one or more vacuum zone independently of other vacuum zones of the gripper 10. The one or more vacuum zone may then be activated after the extension 1210 is achieved, thereby creating a vacuum seal with the surface of the part 50. Retraction of the extended vacuum zone may occur when releasing the part 50 or when the gripper 10 is repositioned for a subsequent operation.

[0151] In one embodiment, as depicted in Figure 22, when the gripper 10 may already be engaged with one or more previous parts, the one or more vacuum zone from the gripper 10 may be extended 1220 to overlap the part 50 and the one or more previous parts. The extension 1220 may occur with an actuator 120 or with a compressible vacuum zone configured to accommodate variations in height, thereby enabling concurrent engagement of both the part 50 and the one or more previous parts. Once the part may be engaged, the vacuum zones may be slightly retracted 1225, causing the engaged part to touch the one or more previous parts and provide additional engagement between the gripper 10 and the one or more previous parts. For example, several small parts may be picked independently, and then a larger board overlapping the small parts may be picked. To engage the larger board, available vacuum zones may extend to allow the larger board to be engaged without interfering with the smaller parts already engaged. The vacuum zones may then be retracted 1225 until the larger board safely secures the smaller parts in place.

[0152] The part 50 and one or more previous parts may be arranged in a stacked or partially overlapping configuration, and the overlapping engagement may be achieved by isolating one or more vacuum zones from the rest of the plurality of vacuum zones 100. The actuator 120 or compressible vacuum zone may be selectively actuated, allowing a controlled extension toward the part 50 until sufficient contact may be established. Theoverlapping arrangement may be used in applications involving dense packing of parts 50, for example, wood panels, plastic assemblies, or sheet metal components. The one or more vacuum zone from the gripper 10 may remain extended until the overlap task may be complete, after which the one or more previous parts may be released or repositioned as needed.

[0153] Optionally, the one or more previous part may include at least three parts, thereby allowing the gripper 10 to hold a total of at least four parts concurrently. The one or more previous part may be arranged side-by-side or in partially overlapping configurations. Each part may engage with an independent vacuum zone 100 or a combination of vacuum zones 100, depending on the shape or size of the parts. Examples of the parts may include wood panels, sheet metal parts, electronic subassemblies, and packaged goods. The gripper 10 may support a concurrent picking approach by selectively activating individual vacuum zones 100 for each part, thereby ensuring the parts remain stably held until placement.

[0154] In embodiments, as depicted in Figure 23, the one or more vacuum zone may be extended 1230 from the gripper 10 unevenly into an incline, thereby enabling the gripper 10 to engage the part 50 with an uneven force at two or more picking locations on the part 50. An actuator may provide a greater extension to one vacuum zone compared to another, causing a staggered contact with the part 50. The difference in extension may allow air to flow underneath a portion of the part 50, preventing a seal from forming between the part 50 and a resting surface. Examples of parts 50 that may be handled using the uneven force may include warped substrates, stacked panels, or items with irregular shapes.

[0155] The part 50 may be lifted 1235 using the uneven force generated by at least two vacuum zones applying different extension or compression states, thereby causing air to fill a vacuum underneath the part 50. The uneven force may be formed when one vacuum zone retractably extends more than another vacuum zone, resulting in a tilt of the part 50 around one contact point. In one configuration, a compressible vacuum zone may decompress while another vacuum zone remains extended, allowing ambient air to enter beneath the part 50 and reduce re-adhesion to a resting surface. Examples of parts 50 that may be lifted 1235 using an uneven force distribution may include warped sheet metal items, angled wood panels, and circuit boards with protruding components.

[0156] In embodiments, as depicted in Figure 24, the part 50 may be slid 1320 laterally, when at rest on a surface, by applying a lateral force while the part 50 remains at least partially engaged with one or more vacuum zone from the plurality of vacuum zones 100. An actuator 120 configured to withstand a lateral torque, allowing the gripper 10 to reposition the part 50 horizontally without lifting it fully off the surface. Examples of parts 50 that may be slid 1320 laterally include a wood panel on a worktable, a circuit board on a conveyor, or a cardboard box on a stationary platform, each being shifted or aligned for subsequent handling steps. The ability to slide 1320 the part 50 while maintaining vacuum engagement may accommodate minor misalignments, variances in part dimensions, or other production requirements.

[0157] In one embodiments, as depicted in Figure 25, the one or more vacuum zone may be lowered 1110 onto the part 50, causing at least one vacuum zone from the one or more vacuum zone to compress more than another vacuum zone from the one or more vacuum zone, where the at least one vacuum zone may include a compressibleportion accommodating surface-height variations. Subsequently, the one or more vacuum zone may be lifted 1310, causing the at least one vacuum zone to decompress more than the other vacuum zone from the one or more vacuum zone, thereby creating an uneven force on the part 50. This uneven force may tilt the part 50 slightly, allowing ambient air to enter underneath, thereby resulting in air filling a vacuum below the part 50.

[0158] Reference is now made to the drawings in which Figure 15 depicts an exemplary embodiment of a gripper engaging a part 50 from an incline, in accordance with the teachings of the present invention. The part 50 may be at rest on an incline between 0.5 and 4 degrees, thereby causing an uneven engagement by the gripper 10 wherewith. The incline may cause a differential contact where at least one vacuum zone from the plurality of vacuum zones 100 engages a higher point on the part 50 while at least one other vacuum zone engages a lower point, thereby causing a measurable tilt when activating the one or more vacuum zones. The angle of between 0.5 and 4 degrees may lead to a partial compression of a compressible vacuum zone, if present, thereby allowing a localized tolerance for misalignment. Examples of the part 50 that may be laid on the incline may include a wood panel, a sheet metal part, and / or a packaged good with a slightly deformed base. When the gripper 10 makes contact wherewith, the part 50 may be engaged unevenly along the incline, thereby potentially causing air to enter underneath the part 50 before a uniform lift is achieved.

[0159] When a part may is lifted with a robotic gripper, an angle may be introduced in the position of the part or the orientation of the gripper to potentially break a vacuum seal that may form between the part and a resting surface. A vacuum seal may occur because the part, when resting flat, may form a tight connection with the surface beneath, thereby trapping air and creating resistance during lifting. Introducing an angle, whether through a shape of the part, an angle of the gripper, or a surface upon which the part rests, may cause one side of the part to lift first, permitting air to flow underneath. This airflow may be advantageous because it may reduce the suction effect. When a part may be lifted evenly, a strong vacuum may form, making separation from the surface difficult. By lifting at an angle, a seal may be broken on one side, allowing atmospheric pressure to equalize the pressure beneath the part. This action may reduce the force required for lifting, overcoming natural adhesion and enhancing lifting efficiency. The approach may be applied in three scenarios: a flat gripper head lifting a part resting at an angle, a gripper on a flat surface lifting a part with an angled surface, or an angled gripper head lifting a part on a flat surface. In each case, an objective may be to break the vacuum effect by creating an initial point of separation, enabling air to enter and reducing resistance. This technique may ensure smoother and more efficient handling, especially for parts with irregular shapes or those prone to adhering.

[0160] Reference is now made to the drawings in which Figure 17 depicts a side view of an exemplary embodiment of a gripper 10 engaging a part 50 across a pile of parts on an inclined surface, in accordance with the teachings of the present invention. In Figure 17, the gripper 10 takes advantage of the actuated vacuum zone to engage the part 50 across a pile of parts. Additionally, the angled resting surface may cause the parts to lift with an uneven force. In this scenario, when parts may be lifted from the pile of parts, air may fill underneath, thereby breaking a vacuum seal that would otherwise have caused resistance. Lifting with an uneven force may reduce the likelihood of parts sticking together when piles of flat parts, such as wooden panels, are unpiled and thereby falling out of place. Asimilar approach may be used when parts may be piled on top of one another. By placing parts with an uneven force, air may be allowed to flow out from underneath the part being placed, thereby providing improved stability. When air may remain under a flat part, the part may float for a short period of time, and it may shift away from a desired location.

[0161] In one embodiments, as depicted in Figure 26, a vacuum chamber 140 associated with a vacuum-chamber- equipped vacuum zone may have air pressure evacuated 1240 therefrom ahead of engaging 1200 the part 50. The vacuum system 150 may be operatively connected with the vacuum chamber 140 to create a low-pressure condition prior to the head 110 making contact with the part 50, thereby allowing the engagement of the part 50 within 250 milliseconds of being in contact with the head 110.

[0162] In one embodiment, as depicted in Figure 27, air pressure may be measured 1330 in the vacuum zone 100 by a pressure sensor configured to sense a level of vacuum in real time. The measurement may determine whether the air pressure may be sufficient to hold the part 50 reliably. The acceleration of the gripper 10 may be reduced 1335 when the measured air pressure may be below a safety threshold, thereby mitigating a risk of releasing the part 50 unexpectedly. The safety threshold may be selected based on the weight and material of the part 50, as well as the characteristics of the vacuum zone 100. A control unit may process input from the pressure sensor and adjust motion parameters of the gripper 10 accordingly, ensuring stable engagement of the part 50 during picking, holding, or placement.

[0163] In one embodiments, as depicted in Figure 28, a surface of the part 50 may be engaged 1250 using one or more vacuum cups of one or more vacuum zones, wherein one or more vacuum cups may be made of a flexible material to absorb minor irregularities on the surface of the part 50 therewith. The flexible material may include an elastomer or polymer-based compound that may conform to local contour variations and may help maintain a seal around ridges, scratches, or texture differences. One or more vacuum cups may be arranged in multiple configurations according to the shape of the part 50, including layouts where elongated cups may be positioned to accommodate linear edges and circular cups may be positioned to engage curved or rounded profiles. The flexible material may be selected to tolerate repeated compression cycles, allowing one or more vacuum cups to adapt to frequent engagements with multiple parts 50. In some embodiments, a compressible layer may be included within one or more vacuum cups to provide additional compliance for angled or uneven surfaces. Pressurized air may be directed onto the flexible material for cleaning if one or more vacuum cups accumulate dust or minor debris.

[0164] In embodiments, the one or more vacuum cups may include an elongated vacuum cup with a ratio of a length to a width of at least 2, thereby improving a stability of the part 50 when a moment is applied parallel to the length while engaging 1200 the part 50 with the elongated vacuum cup. The elongated shape may distribute vacuum force across an extended contact area, reducing a likelihood of unwanted rotation due to torque applied along the length. A flexible material may be used for the elongated vacuum cup, enabling a conforming to minor surface variations on the part 50 and sustaining a consistent seal during engagement 1200. Examples of parts 50 that may benefit from the elongated vacuum cup may include extended panels or strips, where the ratio of the length to the widthprovides additional resistance to tipping and promotes a stable grip. Additional elongated vacuum cups may also be positioned in parallel or at an angle to further enhance stability under various handling conditions.

[0165] The elongated vacuum cup may optionally be a first elongated vacuum cup, with one or more vacuum cups further including a perpendicular elongated vacuum cup at an angle between 45 and 135 degrees relative to the first elongated vacuum cup, thereby enabling collaboration when picking and holding the part 50. The perpendicular elongated vacuum cup may contact the part 50 in a manner that provides resistance to rotational forces perpendicular to the length of the first elongated vacuum cup, reducing a likelihood of the part 50 tipping or shifting during lifting or lateral displacement. The perpendicular elongated vacuum cup may include a flexible contacting rim sized to conform to the surface of the part 50 and may be connected to a vacuum system 150, thereby allowing each elongated vacuum cup to apply an independent and / or coordinated suction force. Examples of parts 50 benefiting from the arrangement may include rectangular boards, panels, and / or other components with extended shapes requiring stable engagement on multiple axes.

[0166] The perpendicular elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part 50, thereby improving stability to the part 50 when applying the moment perpendicular to the length. The perpendicular elongated vacuum cup may be arranged at an angle between 45 and 135 degrees relative to the first elongated vacuum cup, and both vacuum cups may operate simultaneously when activated. The perpendicular elongated vacuum cup may be sized similarly or differently from the first elongated vacuum cup, and a ratio of length to width of at least 2 may be maintained for each vacuum cup to distribute vacuum force across a larger surface area. Examples of parts 50 that may benefit include rectangular boards or elongated beams subject to perpendicular rotational forces. The collaboration between both vacuum cups may provide overlapping support against bending or torque, facilitating stable lifting or holding of parts 50 even when an external force is applied perpendicular to the length of the first elongated vacuum cup.

[0167] Alternatively, the one or more vacuum cups may include a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup. The parallel elongated vacuum cup may coordinate with the first elongated vacuum cup to provide a vacuum engagement on the part 50, thereby distributing vacuum force along two elongated contact areas with minimal angular displacement. The parallel arrangement may reduce torsional stress on the part 50 and enhance stability when lifted or shifted laterally, particularly for elongated parts 50 such as narrow boards, sheet metal strips, or rectangular packaging materials. The parallel elongated vacuum cup may be made of a flexible material configured to conform to minor surface irregularities and may be sized to maintain an elongated contact footprint that improves traction while minimizing rotational forces acting parallel to the length. Examples of parts 50 that may be managed with this configuration may include long wooden panels, elongated plastic components, or other items that benefit from multiple vacuum cups collaborating at a slight angle to enhance support and control during picking and placement operations.

[0168] The parallel elongated vacuum cup may collaborate with the first elongated vacuum cup while picking and holding the part 50, thereby improving stability to the part 50 when applying a moment parallel to the length. The moment parallel to the length may be a torque oriented along a major axis defined by the elongated vacuum cups,potentially causing the part 50 to rotate around a longitudinal direction. The parallel elongated vacuum cup may be positioned at less than 45 degrees relative to the first elongated vacuum cup, thereby distributing vacuum force across both cups and reducing any tendency of the part 50 to tip. The parallel elongated vacuum cup may be made of a flexible material capable of conforming to minor surface variations on the part 50. Examples of the part 50 may include elongated panels, rectangular boards, and / or narrow sheet metal components.

[0169] In embodiments, the one or more vacuum cups may include a circular vacuum cup. The circular vacuum cup may be dimensioned to provide a uniform vacuum seal around a perimeter thereof, thereby accommodating minor misalignments when engaging the part 50. A flexible material, such as an elastomer, may be used for the circular vacuum cup, thereby conforming to irregular surfaces of the part 50. The circular shape may further provide a rotational freedom, allowing the gripper 10 to pivot relative to the part 50 while remaining at least partially engaged, and may also provide a lateral freedom, allowing the gripper 10 to square or reorient the part 50 without releasing the vacuum seal.

[0170] In one embodiment, as depicted in Figure 29, as the circular vacuum cup may provide a rotational freedom, and the gripper 10 may be rotated 1340 relative to the part 50 while the part 50 is at least partially engaged therewith. The circular vacuum cup may comprise a structure permitting a pivot around a central axis, thereby allowing the angle of the gripper 10 to change slightly without losing the vacuum seal. The circular shape may distribute the vacuum force more uniformly as the gripper 10 orientation changes, thereby preventing an unintended release of the part 50. The partial engagement may allow for incremental repositioning when different edges of the part 50 are to be aligned with external features. Examples of parts 50 that may use the rotational freedom of the circular vacuum cup may include curved sheet metal items, cylindrical containers, and / or boards requiring angled positioning.

[0171] Alternatively, in another embodiment, as depicted in Figure 30, the circular vacuum cup may provide lateral freedom, allowing the part 50 to be squared 1350 while the gripper 10 is at least partially engaged therewith. The lateral freedom may permit a controlled sideways motion or minor shifting of the part 50, thereby facilitating alignment of a corner, edge, or center according to a reference position without necessitating a full release of the vacuum seal. The partial engagement may sustain enough vacuum force to ensure that the part 50 does not disengage unintentionally, providing small clearance for lateral realignment until a desired orientation is achieved. Examples of parts 50 that may be squared 1350 using the lateral freedom of the circular vacuum cup may include rectangular sheets, boxes, boards, and other items requiring alignment on a conveyor or assembly surface ahead of subsequent processing steps.

[0172] In one embodiments, as depicted in Figure 31 , pressurized air may be injected 1510 into an opening 145 of at least one vacuum zone from the plurality of vacuum zones 100 to facilitate maintenance thereof. The opening 145 may be positioned to direct a flow of compressed air into internal channels of the vacuum zone 100. The injection 1510 of the pressurized air may dislodge debris, dust, or other accumulated contaminants therein. The opening 145 may be sized to accept a coupling or nozzle for delivering the pressurized air. A check valve or sealing mechanism may optionally be included to prevent reverse flow into the vacuum zone 100. The structure of the opening 145 may be designed so that periodic or on-demand air injection maintains the functionality of the vacuum zone 100.

[0173] Reference is now made to the drawings in which Figure 18 and Figure 19 depict an exemplary embodiment of a maintenance station 80 for a gripper 10, in accordance with the teachings of the present invention. The pressurized air may be injected by the maintenance station 80, which may include an air nozzle 82 configured to inject pressurized air into the opening 145 of the vacuum zone. In one embodiment, a lower air nozzle 84 may direct pressurized air toward the vacuum zone head, thereby targeting an engagement interface. For example, when equipped with a vacuum cup, the lower air nozzle 84 may provide sufficient air pressure to remove dust, particles, or material that may obstruct the vacuum cup from achieving full engagement with the surface of the parts.

[0174] In one embodiments, as depicted in Figure 32, air may be blown 1260 on the part 50 using an air knife 160, thereby improving a suction seal between the plurality of vacuum zones 100 and the part 50 by reducing dust and debris on a surface thereof. The air knife 160 may include a directed nozzle or manifold configured to generate a controlled stream of pressurized air. The flow of the pressurized air may be continuous or pulsed and may be adjustable to accommodate different surface conditions of the part 50. The air knife 160 may be positioned in proximity to the plurality of vacuum zones 100 such that unwanted contaminants are dislodged prior to or during engagement with the part 50. The air knife 160 may be angled relative to the surface of the part 50 to optimize the removal of dust and debris in various industrial settings, such as electronics assembly lines or woodworking operations. Examples of parts 50 that may benefit from the air knife 160 include circuit boards, packaged goods, or glass products that require a clean surface for a reliable vacuum seal. The air knife 160 may be used in conjunction with other cleaning methods, such as injecting pressurized air through an opening 145 of one or more vacuum zones 100, to maintain functionality over prolonged operation.

[0175] In one embodiment, as depicted in Figure 33, one or more misplaced parts may be swept 1600 using a sweeper arm 170. The sweeper arm 170 may be retractably extended from a docked configuration to a deployed configuration, thereby reaching beyond other picking elements to redirect or remove items not in the intended picking location. The sweeper arm 170 may include a sensor to detect a blocking part engaging wherewith, allowing a controlled clearing motion. The sweeper arm 170 may nudge leftover fragments, small packaging items, or partially offcut materials out of a working area, thereby preventing interference with primary picking operations.

[0176] In one embodiments, as depicted in Figure 34, the part 50 may be slid 1710 laterally using a squaring arm 180, thereby pushing a proximate part and creating a gab therebetween. The squaring arm 180 may include a squaring arm extender 185 configured to retractably extend the squaring arm 180 from a docked configuration to a deployed configuration beyond one or more other components, thereby enabling contact with the part 50. One or more squaring vacuum zones 188 operatively connected to the squaring arm 180 may engage the part 50 while the part 50 is moved laterally, ensuring that the surface of the part 50 remains at least partially gripped during repositioning. The part 50 may include a wood panel, a circuit board, or a packaging item, and the lateral sliding 1710 may serve to align or reorient the part 50 before subsequent handling steps. The squaring arm 180 may be retracted to the docked configuration once the lateral position of the part 50 is adjusted.

[0177] Reference is now made to the drawings in which Figure 13A, Figure 13B, Figure 13C and Figure 13D depict two adjacent parts being distanced from one another using the gripper 10. Creating gaps between proximate partsmay be useful in distinguishing the parts. When tightly packed, as depicted in Figure 13A, the parts may be difficult to discern by a vision system. For example, laminated panels with little texture may be challenging to distinguish when edges of one part are touching edges of a similar part. To enhance performance of a vision system, creating spaces between the parts may be advantageous. In one embodiment, the gripper 10 may engage a part, as depicted in Figure 13B. As depicted in Figure 13C, the gripper 10 may move parts laterally and slide them on the surface or slightly raise the engaged part to avoid friction of the resting surface. As depicted in Figure 13D, by engaging one part and moving in multiple directions (for example, back-and forth, acircular, 4-axis, star pattern), it may be possible to push nearby parts away from the engaged part, thereby allowing the visual system to clearly detect edges of the part and its neighbors. This technique may be used systematically or on demand when the vision system reports low detection certainty.

[0178] The part 50 may be squared 1720 while the squaring arm 180 is at least partially engaged therewith. The squaring arm 180 may provide a lateral adjustment to align one or more edges of the part 50 once extended from a docked configuration. The part 50 may remain under partial engagement of one or more squaring vacuum zones 188, thereby preserving a controlled orientation throughout the squaring 1720. The partial engagement may create a stable support, allowing the part 50 to be shifted into alignment without fully disengaging any vacuum zone.

[0179] In one embodiments, as depicted in Figure 35, an exchanged part 50 may be picked 1360 while the part 50 remains held, enabling the gripper 10 to manage both within a single operational sequence. The part 50 may be disengaged 1400, allowing the exchanged part 50 to remain held and facilitating a concurrent transition. The independent vacuum zones 100 may operate autonomously, enabling an exchanged part 50 to be picked while concurrently holding another part 50. Furthermore, the part 50 may be placed while the exchanged part 50 continues to be held, thereby allowing efficient part swapping within a single operational cycle.

[0180] In embodiments, the gripper 10 may be mounted on a robot, which may include an articulated robot, a SCARA robot, a delta robot, a cylindrical robot, a cartesian robot, a collaborative robot, a polar robot, a telescopic robot, and / or a gantry. The mechanical structure of the robot may incorporate multiple joints or linkages that may position the gripper 10 in three-dimensional space, thereby enabling repeated picking and placing of the part 50. The choice of the robot may be determined by the size of the production line, the required load capacity, and / or the desired movement speed.

[0181] The gripper 10 may be integrated with various robotic systems. Articulated robots may include rotary joints and multiple degrees of freedom. SCARA robots may be suited for horizontal movements and assembly operations, while delta robots may include a parallel arm structure, providing high-speed and precise movements for tasks such as packaging or sorting. Cylindrical robots may use a cylindrical coordinate system, allowing movements along a vertical axis and rotation around that axis. Cartesian robots may provide linear movements along the X, Y, and Z- axes. Collaborative robots, or cobots, may work safely alongside human operators. Polar robots may allow rotational movements combined with linear movements along a radial axis, and telescopic robots may have extendable arms to reach over long distances or into confined spaces. Gantry robots may be large, bridge-like structures moving along a set of tracks for handling heavy or oversized parts. The integration may not be limited to a specific type ofrobot, allowing the gripper 10 to be reduced or increased in size and adapted to various situations without compromising functionality. The choice of robots may depend on the specific application, the parts being handled, and the requirements of the production line.

[0182] In embodiments, the part 50 may include a wood panel, a wooden part, a sheet metal part, a plastic assembly, a circuit board, an electronic device, a packaged good, a cardboard box, a plastic container, a glass sheet, a glass product, a composite materials panel, a laminated particle board, a laminated MDF board, and / or a MDF board. A wood panel may refer to a board or panel designed for assembly lines. A wooden part may be a shaped or processed piece of lumber. A sheet metal part may be cut, bent, or stamped, potentially used in automotive or industrial applications. A plastic assembly may include injection-molded or thermoformed components. A circuit board may be a printed circuit board with or without mounted electronic components. An electronic device may be any consumer or industrial apparatus equipped with an internal circuit. A packaged good may refer to an item contained within a closed or openable wrap, while a cardboard box may be a folded paper-based container suitable for transportation or storage. A plastic container may include blow-molded or injection-molded enclosures. A glass sheet may be a flat pane of glass, and a glass product may include various shaped or tempered glass articles. A composite materials panel may include bonded layers comprising fibers or resins. A laminated particle board may consist of wood chips bonded with resin and covered with a decorative laminate. A laminated MDF board may refer to an MDF panel with a laminate layer for enhanced aesthetics and protection. An MDF board, or Medium Density Fiberboard, may be composed of compressed wood fibers and resin, known for its dense and smooth surface, suitable for detailed work. Optionally, a weight of the part 50 may be between 2 kg and 50 kg.

[0183] Illustrative and preferred embodiments of the invention may have been described in detail hereinabove, but inventive concepts may be otherwise variously embodied and used, and the appended claims may be construed to include such variations except as limited by the prior art.

[0184] The one or more independent picking vacuum zones 100 may be configured to pick one or more additional parts 50 sequentially with the part 50, hold the one or more additional parts 50 concurrently with the part 50, and place the one or more additional parts 50 sequentially with the part 50. Optionally, the one or more additional parts 50 may include at least three parts, thereby enabling the gripper 10 to hold a total of at least four parts 50 concurrently. The independent picking vacuum zones 100 may operate separately from the other picking vacuum zones 100, allowing specific tasks to be performed independently. The tasks may include picking additional parts 50 one after another, holding the additional parts 50 at the same time as the initially picked part 50, and placing the additional parts 50 one after another. The configuration of the independent picking vacuum zones 100 may enhance the efficiency and productivity of the gripper 10. By picking parts 50 sequentially, the gripper 10 may handle multiple parts 50 in a single operational cycle. Holding the parts 50 concurrently may reduce the need for multiple movements and repositioning, thereby saving time and resources. The ability to place the parts 50 sequentially may allow for precise placement in designated locations or arrangements. Examples of parts 50 that may be handled using the configuration may include wood panels, small electronic components, packaged goods, and / or automotive parts 50. For instance, the gripper 10 may pick multiple components in an electronics assembly line, hold them securely, andplace them in the correct positions on a circuit board. In a packaging line, the gripper 10 may pick and hold multiple boxes or containers and place them in a carton or on a pallet.

[0185] In embodiments, the gripper 10 may hold four or more parts 50 concurrently. The throughput and efficiency of the gripper 10 in various industrial applications may be enhanced with this capability. For instance, in a logistics operation, multiple items may be picked from a storage bin by the gripper 10, held at the same time, and placed in different shipping containers sequentially.

[0186] A third aspect of the techniques described herein relates to a method 2000 for simultaneously engaging two or more parts using a gripper. Reference is now made to the flow diagram in which Figure 36 depicts an exemplary method 2000 for simultaneously engaging two or more parts using a gripper 10 in accordance with the teachings of the present invention. The flow diagram of Figure 37 depicts an exemplary method 2000 for simultaneously engaging two or more parts using a gripper 10 involving extending 2125 a second set of gripping zones. The flow diagram of Figure 38 depicts an exemplary method 2000 for simultaneously engaging two or more parts using a gripper 10 involving repeating the method to engage additional parts.

[0187] Achieving multi-picking using a gripper 10 may present challenges when more than one engagement configuration may be necessary. For example, following the picking of a first part, it may be required for the gripper to adjust position and orientation in order to pick a second part from a second engagement position. When multiple parts may be present on the picking surface, the second engagement position may involve lowering the gripper, currently engaged with a first part, onto an additional nearby part on the surface. The first part engaged with the gripper may collide with the additional part on the surface, potentially preventing the gripper from reaching the second part. To enable the gripper to reach the second part, a set of gripper zones may need to be extended by at least the width of the first part in order to reach and engage the second part.

[0188] When two parts are being multi-picked, the gripper may be positioned 2110 in a first engagement configuration. A first part may be engaged 2210 by activating a first set of gripping zones. The gripper may then be positioned 2120 in a second placement configuration, different from the first placement configuration and a second part may then be engaged 2220 while the first part remains engaged, by activating a second set of at least one gripping zone from the plurality of gripping zones, different from the first set.

[0189] In one embodiment, when the picking surface may include additional parts, such as n additional parts, a risk may exist that in the second engagement position, the first part may collide with one of the additional parts if the gripper may be lowered to engage the second part. To avoid the collision, the second set of gripping zones may be extended 2125, allowing the gripper to reach the second part without the first part colliding with the additional parts. The extension thickness may be at least the thickness of the first part. For example, when picking wooden panels, the thickness of the part may typically be 10 mm or more, and thus extension thickness may be at least 10 mm. The gripper 10 may be equipped with an actuator, allowing longer extension. The actuator may provide more than 800 mm of extension to the gripping zone.

[0190] Multi-picking may continue for more than two parts by repeating the method until all target parts are engaged. To multi-pick n parts from a surface potentially containing more than n parts, the gripper may be positioned 2190 for each additional engagement configuration. Each additional set of gripping zones, corresponding to each additional part being picked, may be extended 2295, allowing the gripper to reach the additional parts without any previously engaged part colliding with the additional parts. Each additional part may be engaged 2290 by activating the corresponding additional set of gripping zones, allowing the gripper to engage each additional part.

[0191] As depicted in Figure 17, the method 2000 may employ the gripper 10 previously described, wherein the plurality of gripping zones may include a plurality of vacuum zones 100. Other embodiments may, for example, include gripper tools configured to engage the parts using magnetic or mechanical forces. Figure 17 provides an illustrative example, where the gripper 10 may perform multi-picking while overcoming a stack S of multiple parts, to pick the part 50 while holding a previous part 52.

[0192] As used in this specification and claim(s), the expression “at least one of” followed by a set of elements suggests that any combination of the elements from the set is being considered, including a single element from the set, and all elements from the set. For clarity, “at least one of” followed by a set does not strictly refer to having at least the whole set once, and possibly multiple times.

[0193] As used in this specification and claim(s), the words “comprising” (and any form of comprising, such as “comprise” and “comprises”), “having” (and any form of having, such as “have” and “has”), “including” (and any form of including, such as “include” and “includes”) or “containing” (and any form of containing, such as “contain” and “contains”), are inclusive or open-ended and do not exclude additional, unrecited elements or process steps.

[0194] As will be understood by a skilled person, other variations and combinations may be made to the various embodiments of the invention as described herein above. The scope of the claims should not be limited by the preferred embodiments set forth; but should be given the broadest interpretation consistent with the description as a whole.

[0195] A method is generally conceived to be a self-consistent sequence of steps leading to a desired result. These steps require physical manipulations of physical quantities. Usually, though not necessarily, these quantities take the form of electrical or magnetic / electromagnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is convenient at times, principally for reasons of common usage, to refer to these signals as bits, values, parameters, items, elements, objects, symbols, characters, terms, numbers, or the like. It should be noted, however, that all of these terms and similar terms are to be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities. The description of the present invention has been presented for purposes of illustration but is not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen to explain the principles of the invention and its practical applications and to enable others of ordinary skill in the art to understand the invention in order to implement various embodiments with various modifications as might be suited to other contemplated uses.

Claims

CLAIMS1. A gripper (10) for placing a part (50), the gripper (10) comprising: a plurality of vacuum zones (100), each comprising:- a head (110) configured to disengageably engage the part (50); and wherein at least one vacuum zone from the plurality of vacuum zones (100) is an independent vacuum zone, configured to operate independently, thereby enabling the gripper (10) to pick, hold, and place the part (50) among one or more closely packed adjacent parts.

2. The gripper (10) of claim 1, wherein at least one vacuum zone from the plurality of vacuum zones (100) is an actuated vacuum zone comprising: an actuator (120) operatively connected with the head thereof, thereby enabling the actuated vacuum zone to retractably extend toward the part (50).

3. The gripper (10) of claim 2, wherein the part (50) is a first part and wherein the actuated vacuum zone is configured to extend when engaging a second overlapping part while the gripper (10) is engaging the first part concurrently.

4. The gripper (10) of claim 2 or claim 3, wherein the actuated vacuum zone is configured to extend, when picking the part (50), defining an incline with one or more other vacuum zone, thereby enabling the gripper (10) to engage the part (50) with an uneven force at two or more picking locations on the part (50).

5. The gripper (10) of any one of claims 2 to 4, wherein the actuator (120) is configured to retractably extend the actuated vacuum zone toward the part (50) by at least 80 mm.

6. The gripper (10) of any one of claims 2 to 5, wherein the actuator (120) is configured to withstand a lateral torque of at least 1 N m, thereby allowing the gripper (10) to slide the part (50) when at rest on a surface.

7. The gripper (10) of any one of claims 1 to 6, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a compressible vacuum zone comprising: a compressible length configured to decompressably compress, thereby providing a tolerance when engaging the part (50).

8. The gripper (10) of claim 7, wherein the compressible length is at least 20 mm.

9. The gripper (10) of claim 7 or claim 8, wherein the compressible vacuum zone is configured to decompress when lifting the part (50), causing the part (50) to be picked with an uneven force when collaborating with a second vacuum zone of the plurality of vacuum zones (100), thereby causing air to fill a vacuum underneath the part (50).

10. The gripper (10) of any one of claims 7 to 9, wherein the compressible vacuum zone comprises a pneumatic actuator; and wherein the compressible length is provided by the pneumatic actuator.11 . The gripper (10) of any one of claims 1 to 10, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a vacuum-chamber-equipped vacuum zone comprising: a vacuum chamber (140) operatively connected with the head thereof and configured to provide suction thereto when engaging with the part (50); anda vacuum system (150) operatively connected with the vacuum chamber (140) for evacuating an air pressure therefrom.

12. The gripper (10) of claim 11, wherein the vacuum system (150) is configured to evacuate the air pressure from the vacuum chamber (140) ahead of engaging the part (50), thereby allowing the part (50) to be engaged within 250 milliseconds of being in contact with the head (110) of the vacuum-chamber-equipped vacuum zone.

13. The gripper (10) of claim 11 or claim 12, wherein the vacuum-chamber-equipped vacuum zone further comprises: a pressure sensor configured to measure the air pressure in the vacuum chamber (140); and wherein an acceleration of the gripper (10) is reduced when the air pressure in the vacuum chamber (140) is below a safety threshold while picking and holding the part (50).

14. The gripper (10) of any one of claims 11 to 13, wherein the vacuum chamber (140) is dedicated to the vacuum- chamber-equipped vacuum zone.

15. The gripper (10) of any one of claims 11 to 14, wherein the vacuum system (150) is dedicated to the vacuum- chamber-equipped vacuum zone.

16. The gripper (10) of any one of claims 1 to 15, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a vacuum-cup-equipped vacuum zone wherein the head (110) comprises: a vacuum cup (130) made of a flexible material and configured to absorb minor irregularities on a surface of the part (50) therewith.

17. The gripper (10) of claim 16, wherein the vacuum cup (130) is an elongated vacuum cup comprising a length and a width, and wherein a ratio of the length to the width is at least 2, thereby improving a stability of the part (50) when applying a moment thereto parallel to the length while engaging the part (50) therewith.

18. The gripper (10) of claim 17, wherein the elongated vacuum cup is a first elongated vacuum cup and wherein the plurality of vacuum zones (100) comprises: a perpendicular vacuum-cup-equipped vacuum zone comprising:- a perpendicular elongated vacuum cup at an angle between 45 and 135 degrees of the first elongated vacuum cup and configured to collaborate therewith while picking and holding the part (50), thereby improving the stability to the part (50) when applying the moment perpendicular to the length.

19. The gripper (10) of claim 17 or claim 18, wherein the elongated vacuum cup is a first elongated vacuum cup and wherein the plurality of vacuum zones (100) comprises: a parallel vacuum-cup-equipped vacuum zone comprising:- a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup and configured to collaborate therewith, while picking and holding the part (50), thereby further improving the stability to the part (50) when applying the moment thereto parallel to the length.

20. The gripper (10) of any one of claims 17 to 19, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a circular vacuum-cup-equipped vacuum zone comprising a circular vacuum cup.

21. The gripper (10) of claim 20, wherein the circular vacuum cup is configured to provide a rotational freedom, thereby allowing the gripper (10) to rotate relative to the part (50) while being at least partially engaged therewith.

22. The gripper (10) of claim 20 or claim 21 , wherein the circular vacuum cup is configured to provide a lateral freedom, thereby allowing the gripper (10) to square the part (50) while being at least partially engaged therewith.

23. The gripper (10) of any one of claims 1 to 22, wherein at least one vacuum zone from the plurality of vacuum zones (100) comprises: an opening (145) for injecting pressurized air thereinto, thereby facilitating a maintenance thereof.

24. The gripper (10) of any one of claims 1 to 23, further comprising: an air knife (160) configured to blow air on the part (50), thereby improving a suction seal between the plurality of vacuum zones and the part (50) by reducing a number of dust and debris on a surface thereof.

25. The gripper (10) of any one of claims 1 to 24, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a detachable vacuum zone comprising: a fastening mechanism configured to detachably attach the detachable vacuum zone to the gripper (10), thereby facilitating a replacement and a maintenance thereof.

26. The gripper (10) of any one of claims 1 to 25, further comprising: a sweeper arm (170) configured for sweeping one or more misplaced parts.

27. The gripper (10) of claim 26, wherein the sweeper arm (170) comprises: a sweeper arm extender (175) configured to retractably extend the sweeper arm (170) from a sweeper arm docked configuration to a sweeper arm deployed configuration beyond the plurality of vacuum zones (100); and a sensor configured to detect a blocking part engaging the sweeper arm (170).

28. The gripper (10) of any one of claims 1 to 27, further comprising a squaring arm (180) for moving and aligning the part (50) laterally.

29. The gripper (10) of claim 28, wherein the squaring arm (180) comprises: a squaring arm extender (185) configured to retractably extend the squaring arm (180) from a squaring arm docked configuration to a squaring arm deployed configuration; and one or more squaring vacuum zones (188) for engaging the part (50) while moving laterally.

30. The gripper (10) of claim 29, wherein the one or more squaring vacuum zones (188) are configured to provide a lateral freedom, thereby allowing the squaring arm (180) to square the part (50) while being at least partially engaged therewith.31 . The gripper (10) of any one of claims 1 to 30, wherein at least one vacuum zone from the plurality of vacuum zones (100) is a dual vacuum zone (102) with the head (110) comprising: a pair of vacuum cups comprising:a first vacuum cup; and a second vacuum cup; wherein: the first vacuum cup is positioned closer to the second vacuum cup than any other vacuum cup from the plurality of vacuum zones (100); the second vacuum cup is positioned closer to the first vacuum cup than any other vacuum cup from the plurality of vacuum zones (100); the pair of vacuum cups defines a collaboration line; the first vacuum cup and the second vacuum cup are configured to collaborate, when picking and holding the part (50); and thereby improving a stability to the part (50) when applying a moment parallel to collaboration line.

32. The gripper (10) of any one of claims 1 to 31 , wherein the plurality of vacuum zones (100) comprises: a first vacuum zone; a vacuum zone closest to the first vacuum zone; a second vacuum zone; and a vacuum zone closest to the second vacuum zone; wherein: the first vacuum zone and the vacuum zone closest to the first vacuum zone define a first distance; the second vacuum zone and the vacuum zone closest to the second vacuum zone define a second distance; the first distance is different from the second distance; and thereby positioning the plurality of vacuum zones (100) in an irregular pattern.

33. The gripper (10) of any one of claims 1 to 32, wherein the plurality of vacuum zones (100) defines a pattern configured to be asymmetrical along at least one of a lateral or longitudinal axis, thereby providing a different configuration when the gripper (10) is rotated by 180 degrees.

34. The gripper (10) of any one of claims 1 to 33, wherein the plurality of vacuum zones (100) comprises at least 8 vacuum zones and at least 55 vacuum zones per square meter.

35. The gripper (10) of any one of claims 1 to 34, wherein the plurality of vacuum zones (100) comprises at least 4 vacuum zones and at most 35 vacuum zones per square meter.

36. The gripper (10) of any one of claims 1 to 35, wherein the independent vacuum zone is configured to generate a lift force of at least 75N and at least 400 mBar.

37. The gripper (10) of any one of claims 1 to 36, mounted on a robot.

38. The gripper (10) of claim 37, wherein the robot is any one of an articulated robot, a SCARA robot, a delta robot, a cylindrical robot, a cartesian robot, a collaborative robot, a polar robot, a telescopic robot, and a gantry.

39. The gripper (10) of any one of claims 1 to 38, wherein the part (50) comprises at least one of a wood panel, a wooden part, a sheet metal part, a plastic assembly, a circuit board, an electronic device, a packaged good, acardboard box, a plastic container, a glass sheet, a glass product, a composite materials panel, a laminated particle board, a laminated MDF board, and a MDF board.

40. The gripper (10) of any one of claims 1 to 39, wherein a weight of the part (50) is between 2 kg and 50 kg.

41. A method (1000) for placing a part (50) using a gripper (10), the method (1000) comprising: positioning (1100) the gripper (10) in an engagement configuration; engaging (1200) the part (50) by activating one or more vacuum zone from a plurality of vacuum zones (100) of the gripper (10); positioning (1300) the gripper (10) in a placement configuration; and disengaging (1400) the part (50) by deactivating the one or more vacuum zone.

42. The method (1000) of claim 41 , wherein the one or more vacuum zone is an incomplete subset of the plurality of vacuum zones (100).

43. The method (1000) of claim 42, wherein the incomplete subset defines a shape of the part (50), thereby avoiding nearby parts from engaging with the gripper (10).

44. The method (1000) of any one of claims 41 to 43, wherein engaging (1200) the part (50) comprises: extending (1210) the one or more vacuum zone from the gripper (10) to reach the part (50).

45. The method (1000) of any one of claims 41 to 44, when the gripper (10) is already engaged with one or more previous part, wherein engaging (1200) the part comprises: extending (1220) the one or more vacuum zone from the gripper (10) to overlap the part (50) and the one or more previous part.

46. The method (1000) of claim 45 wherein the one or more previous part comprise at least three parts, thereby enabling the gripper (10) to hold a total of at least four parts concurrently.

47. The method (1000) of any one of claims 41 to 46, wherein engaging (1200) the part (50) comprises: extending (1230) the one or more vacuum zone from the gripper (10) unevenly into an incline, thereby enabling the gripper (10) to engage the part (50) with an uneven force at two or more picking locations on the part (50); and lifting (1235) the part (50) using the uneven force, thereby causing air to fill a vacuum underneath the part (50).

48. The method (1000) of any one of claims 41 to 47, wherein positioning (1300) the gripper (10) in the placement configuration comprises: sliding (1320) the part (50) laterally, when at rest on a surface.

49. The method (1000) of any one of claims 41 to 48, wherein: positioning (1100) the gripper (10) in the engagement configuration comprises:- lowering (1110) the one or more vacuum zone onto the part (50), causing at least one vacuum zone from the one or more vacuum zone to compress more than an other vacuum zone from the one or more vacuum zone; and positioning (1300) the gripper (10) in the placement configuration comprises- lifting (1310) the one or more vacuum zone, thereby causing the at least one vacuum zone to decompress more than the other vacuum zone from the one or more vacuum zone, the part (50) to be picked with an uneven force, and air to fill a vacuum underneath the part (50).

50. The method (1000) of claim 49, wherein the part (50) is at rest on an incline of between 0.5 and 4 degrees, thereby causing an uneven engagement of the gripper (10) therewith.

51. The method (1000) of any one of claims 41 to 50, wherein engaging (1200) the part (50) comprises: evacuating (1240) an air pressure from a vacuum chamber (140) ahead of engaging (1200) the part (50), thereby allowing the part (50) to be engaged within 250 milliseconds of being in contact with a head (110) of the vacuum zone.

52. The method (1000) of any one of claims 41 to 51 , wherein positioning (1300) the gripper (10) in the placement configuration comprises: measuring (1330) an air pressure in the vacuum zone; and reducing (1335) an acceleration of the gripper (10) when the air pressure is below a safety threshold.

53. The method (1000) of any one of claims 41 to 52, wherein engaging (1200) the part (50) comprises: engaging (1250) a surface of the part (50) with one or more vacuum cups of the one or more vacuum zone, wherein the one or more vacuum cups are made of a flexible material and configured to absorb minor irregularities on the surface of the part (50) therewith.

54. The method (1000) of claim 53, wherein the one or more vacuum cups comprise an elongated vacuum cup comprising a length and a width, and wherein a ratio of the length to the width is at least 2, thereby improving a stability of the part (50) when applying a moment thereto parallel to the length while engaging (1200) the part (50) therewith.

55. The method (1000) of claim 54, wherein the elongated vacuum cup is a first elongated vacuum cup and wherein the one or more vacuum cups further comprise a perpendicular elongated vacuum cup at an angle between 45 and 135 degrees of the first elongated vacuum cup and configured to collaborate with the first elongated vacuum cup while picking and holding the part (50), thereby improving the stability to the part (50) when applying the moment perpendicular to the length.

56. The method (1000) of claim 54 or claim 55, wherein the elongated vacuum cup is a first elongated vacuum cup and wherein the one or more vacuum cups further comprise a parallel elongated vacuum cup at less than 45 degrees of the first elongated vacuum cup and configured to collaborate with the first elongated vacuum cup while picking and holding the part (50), thereby improving the stability to the part (50) when applying a moment parallel to the length.

57. The method (1000) of any one of claims 54 to 56, wherein the one or more vacuum cups further comprises a circular vacuum cup.

58. The method (1000) of claim 57, wherein the circular vacuum cup is configured to provide a rotational freedom, and wherein positioning (1300) the gripper (10) in the placement configuration comprises:rotating (1340) the gripper (10) relative to the part (50) while being at least partially engaged therewith.

59. The method (1000) of claim 57 or claim 58, wherein the circular vacuum cup is configured to provide a lateral freedom, and wherein positioning (1300) the gripper (10) in the placement configuration comprises: squaring (1350) the part (50) while the gripper (10) is at least partially engaged therewith.

60. The method (1000) of any one of claims 41 to 59, further comprising: injecting (1510) pressurized air into an opening (145) of at least one vacuum zone from the plurality of vacuum zones (100) to perform a maintenance thereof.

61. The method (1000) of any one of claims 41 to 60, wherein engaging (1200) the part (50) comprises: blowing (1260) air on the part (50) using an air knife (160), thereby improving a suction seal between the plurality of vacuum zones and the part (50) by reducing a number of dust and debris on a surface thereof.

62. The method (1000) of any one of claims 41 to 61 , further comprising: sweeping (1600) one or more misplaced parts using a sweeper arm (170).

63. The method (1000) of any one of claims 41 to 62, wherein positioning (1300) the gripper (10) in the placement configuration further comprises: sliding (1710) the part (50) laterally using a squaring arm (180) thereby pushing a proximate part and creating a gab therebetween.

64. The method (1000) of claim 63 wherein sliding (1710) the part (50) laterally using the squaring arm comprises: squaring (1720) the part (50) while the squaring arm (180) is at least partially engaged therewith.

65. The method (1000) of any one of claims 41 to 64, wherein: positioning (1300) the gripper (10) in the placement configuration comprises:- picking (1360) an exchanged part (50) while holding the part (50); and disengaging (1400) the part (50) is performed while holding the exchanged part (50).

66. The method (1000) of any one of claims 41 to 64, wherein the gripper (10) is mounted on a robot.

67. The method (1000) of claim 66 wherein the robot is any one of an articulated robot, a SCARA robot, a delta robot, a cylindrical robot, a cartesian robot, a collaborative robot, a polar robot, a telescopic robot, and a gantry.

68. The method (1000) of any one of claims 41 to 67, wherein the part (50) comprises at least one of a wood panel, a wooden part, a sheet metal part, a plastic assembly, a circuit board, an electronic device, a packaged good, a cardboard box, a plastic container, a glass sheet, a glass product, a composite materials panel, a laminated particle board, a laminated MDF board, and a MDF board.

69. The method (1000) of any one of claims 41 to 68, wherein a weight of the part (50) is between 2 kg and 50 kg.

70. A gripper (10) for placing a part (50), the gripper (10) comprising: a plurality of vacuum zones (100), each being an independent vacuum zone comprising:- a head (110), configured to disengageably engage a part (50), the head (110) comprising:- a vacuum cup (130) made of a flexible material and configured to absorb minor irregularities on a surface of the part (50) therewith;- an actuator (120) operatively connected with the head (110), thereby enabling the independent vacuum zone to retractably extend toward the part (50), the actuator (120) comprising:- a compressible length of configured to decompressably compress by and provide a tolerance of at least 20 mm when engaging (1200) the part (50);- a vacuum chamber (140) operatively connected with the head (110) and configured to provide suction thereto when engaging with the part (50), the vacuum chamber (140) comprising:- a vacuum system (150) operatively connected with the vacuum chamber (140) for evacuating the air pressure therefrom; and wherein: the independent vacuum zone is configured to:- operate independently, thereby enabling the gripper (10) to pick, hold, and place the part (50) among one or more closely packed adjacent parts;- extend when engaging (1200) the part (50) while the gripper (10) is engaging a previous overlapping part concurrently;- retractably extend toward the part (50) by at least 80 mm; and- withstand a lateral torque of at least 1 N m, thereby allowing the gripper (10) to slide the part (50) when at rest on a resting surface; the vacuum system (150) is configured to evacuate the air pressure from the vacuum chamber (140) ahead of engaging (1200) the part (50), thereby allowing the part (50) to be engaged within 250 milliseconds of being in contact with the head (110); the vacuum chamber (140) is dedicated to the independent vacuum zone; and at least one the vacuum cup (130) is an elongated vacuum cup comprising a length and a width, and wherein a ratio of the length to the width is at least 2, thereby improving a stability of the part (50) when applying a moment thereto parallel to the length while engaging (1200) the part (50) therewith.

71. A method (2000) for simultaneously engaging two or more parts using a gripper (10), the method (2000) comprising: positioning (2110) the gripper (10) in a first engagement configuration; engaging (2210) a first part from the two of more parts by activating a first set of at least one gripping zones from a plurality of gripping zones of the gripper (10);positioning (2120) the gripper (10) in a second placement configuration, different from the first placement configuration; and engaging (2220) a second part from the two of more parts, while the first part is engaged, by activating a second set of at least one gripping zones from the plurality of gripping zones, different from the first set.

72. The method (2000) of claim 71 , wherein: the first part and the second part are engaged from a surface; the surface further comprises n additional part; and wherein engaging (2220) the second part further comprises:- extending (2225) the second set of gripping zones by at least a thickness of the first part, thereby allowing the gripper to reach the second part without the first part colliding with the n additional part.

73. The method (2000) of claim 72, wherein the thickness is greater than 10 mm.

74. The method (2000) of claim 72 further comprising repeating for each of the n additional parts: until the n additional parts are engaged:- positioning (2190) the gripper in an additional engagement configuration;- extending (2295) a corresponding additional set of gripping zones, thereby allowing the gripper to reach one additional part from the n additional parts without any previously engaged part colliding therewith; and- engaging (2290) the one additional part by activating the corresponding additional set of gripping zones. thereby allowing the gripper to engage the n additional parts.

75. The method (2000) of any one of claims 71 to 74, wherein the plurality of gripping zones is a plurality of vacuum zones (100).

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