A modular vacuum gripping system

Abstract

The present disclosure provides a modular vacuum gripping system 100 comprising a plurality of modular members 110, 120, 130, 140, 150, 160, 170 housing an internal fluid distribution system. The plurality of modular members includes a first member 110 configured to interface with an automated handling apparatus and receive control signals therefrom, and a plurality of second modular members 120, 130, 140, 150, 160, 170 adapted to mechanically couple to the first member 110 or to one another. At least one of the second modular members 120, 130, 150, 160 is configured to be fluidly coupled to the first member 110 or to another second modular member 120, 130, 150, 160 via the internal fluid distribution system to perform end-of-arm gripping operations.

Description

[0001] A MODULAR VACUUM GRIPPING SYSTEM

[0002] FIELD OF THE INVENTION

[0003] [1] The present invention generally relates to the field of industrial tools and equipment, and more particularly, to a system for providing vacuum gripping and method for assembling and operating a modular vacuum gripping system.

[0004] BACKGROUND

[0005] [2] Vacuum gripping technology has become a critical component in modern automation, manufacturing, and material handling industries due to its ability to securely pick up and manipulate objects without the need for mechanical clamping.

[0006] [3] Vacuum grippers are a type of end effector that uses suction to lift and manipulate objects. They function through the principles of suction, where a partial vacuum is created between the gripper and the surface of the object to be grasped. This vacuum provides a secure and stable grip, allowing for manipulation and movement of the object.

[0007] [4] These systems are increasingly used to automate repetitive tasks such as part picking, assembly, packaging, and sorting, thus reducing the reliance on manual labour and improving overall productivity.

[0008] [5] In industrial automation, systems that integrate vacuum, pneumatics, mechanical components, and control systems often face significant challenges. Setting up and maintaining vacuum systems requires specialized knowledge to ensure proper sealing, as improperly managed circuits can result in inefficiencies and breakdowns. Similarly, pneumatic systems depend heavily on skilled engineers to design and implement components like actuators, valves, and sensors accurately, as any misstep can compromise the system's effectiveness. Custom mechanical designs are often needed for specialized tasks, such as unique grippers or mounts, and these designs require advanced engineering expertise to ensure proper functionality. Additionally, the control systems that regulate these components need detailed programming tocoordinate movements and operations, which adds to the project's complexity, cost, and timeline. These factors may lead to longer turnaround times, as customizations and system integrations often introduce significant delays in completing a project. The setup of these systems also tends to be messy, with numerous tubes, wires, and components creating a disorganized robotic cell which complicates maintenance.

[0009] [6] Further, traditional systems are often not flexible as shifting from one product or operation to another can be slow, labour-intensive, and time-consuming.

[0010] [7] Given the above limitations, there is a need for the development of an easily reconfigurable, scalable, flexible, efficient and an easily maintainable system that is capable of providing enhanced vacuum gripping function.

[0011] [8] The above information is presented as background information only to assist with an understanding of the present disclosure. No determination has been made, and no assertion is made, as to whether any of the above might be applicable as prior art with regard to the disclosure.

[0012] SUMMARY

[0013] [9] This below information is presented to introduce certain objects and aspects of the present disclosure in a simplified form that are further described below in the detailed description. This summary is not intended to identify the key features or the scope of the claimed subject matter.

[0014]

[0010] In view of the shortcomings of the existing systems, there exists a need for the development of an easily reconfigurable, scalable, flexible and efficient modular vacuum gripping system that provides improved operational efficiency while handling a variety of objects with precision and efficiency.

[0015]

[0011] It is an object of the present disclosure to provide an efficient modular vacuum gripping system that enables robots to handle a variety of objects with precision and efficiency.

[0016]

[0012] It is another object of the present disclosure to provide an efficient modular vacuum gripping system that allows for rapid reconfiguration with minimal downtime, enabling seamless transitions between tasks and enhancing operational flexibility.

[0013] It is another object of the present disclosure to provide an efficient modular vacuum gripping system that ensures universal compatibility with robotic arms and peripheral devices.

[0017]

[0014] It is another obj ect of the present disclosure to provide a reconfigurable and scalable vacuum gripping system that allows for quick and easy adjustments, enabling seamless transitions between tasks and applications without requiring significant downtime or complex reconfiguration.

[0018]

[0015] It is another object of the present disclosure to provide a cost-effective, modular, and easy-to-maintain vacuum gripping system that reduces operational costs, simplifies maintenance processes, and enhances overall system reliability.

[0019] In accordance with an aspect of the present disclosure, a modular vacuum gripping system is provided. The modular vacuum gripping system includes a plurality of modular members housing an internal fluid distribution system. The modular members may include a first member that is configured to interface and receive control signals from the automated handling apparatus, a plurality of second modular members adapted to mechanically couple with the at least one first member or with the at least another second modular member. The at least one second modular member may be configured fluidly couple with the at least one first member or with the at least another second modular member through the internal fluid distribution system for end-of-arm gripping operations.

[0020] According to an embodiment, the first member may include a dock inlet for receiving compressed air or vacuum; wherein the dock inlet is fluidly connected to the internal fluid distribution system.

[0021] According to an embodiment, the first member may include a controller configured to control an in-built solenoid valve.

[0022] According to an embodiment, the first member may be coupled with an external controller for controlling an external solenoid valve.According to an embodiment, the first member may include a dock inlet for receiving vacuum; wherein the dock inlet is fluidly connected to the internal fluid distribution system.

[0023] According to an embodiment, each modular member may include one or more interface portions for coupling with a complimentary interface portion of another modular member by twist-lock mechanism, wherein the at least one interface portion comprises: at least two wedge portions for progressive engagement with the complimentary interface portion and a terminal portion for locking with the complimentary interface portion.

[0024]

[0016] According to an embodiment, the first member may be selected from a dock . The second modular members may be selected from a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device. The second modular members include one or more control valves for controlling vacuum flow or pneumatic pressure.

[0025] According to an embodiment, the at least one first member may be selected from a dock or any device configured to support, mount or couple with an automated coupling system. The at least one second modular members may be selected from a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device. The at least one first member may include one or more control valves for controlling vacuum flow or pneumatic pressure.

[0026] According to an embodiment, the hub may include at least one hub inlet port fluidly connected to the at least one modular members for receiving vacuum flow or pneumatic pressure, a flange adapted to attach with at least one second modular member and a plurality of hub outlet ports fluidly connected to hub inlet port and configured to distribute vacuum flow or pneumatic pressure to one or more second modular members.

[0027] According to an embodiment, the pod may include at least one pod inlet port fluidly connected to the at least one modular members for receiving vacuum flow or pneumatic pressure and a plurality of suction element interfaces fluidly connectedto pod inlet port configured to operably coupled with corresponding suction elements for end-of-arm gripping operations based on the received vacuum flow or pneumatic pressure.

[0028] According to an embodiment, the at least one inline offset fluidly connected to the at least one modular member for receiving vacuum flow or pneumatic pressure for providing spatial adjustment along a plurality of axes; and

[0029] wherein the at least one offline offset may be configured to mechanically couple with the at least one modular member for providing spatial adjustment along a plurality of axes.

[0030] According to an embodiment, the at least one second modular member may include an extension profile for structural support and / or to mount at least one peripheral device comprising a sensor, camera, or scanner.

[0031] In another aspect of the present disclosure, a method for assembling and operating a modular vacuum gripping system is provided. The modular vacuum gripping system houses an internal fluid distribution system and may include a first member and a plurality of second modular members fluidly coupled to the first member through the internal fluid distribution system. The method may include coupling operably the first member to an automated handling apparatus, coupling one or more second modular member to the first member and / or the one or more second modular members each by twist-lock coupling mechanism, receiving vacuum or compressed air through dock inlet, allowing vacuum flow or pneumatic pressure to flow through the internal fluid distribution system through one or more second modular members for end-of-arm gripping operations.

[0032] Advantageously, the present disclosure provides a modular vacuum gripping system that includes modular components like docks, pods, offsets, and hubs that enables users to Build Your Own Gripper (BYOG) for a wide range of applications. The present disclosure enables quick customization to meet specific task requirements without the need for complex reengineering. The present disclosure utilizes a standardized male-female coupling mechanism with twist-lock functionality. Dueto positive locking between the coupling portions of the modular components, alignment and sealing of an internal fluid pathway are maintained. This enables quick assembly and reconfiguration while reducing the risk of inadvertent disengagement under operational loads and dynamic conditions.

[0033] Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments.

[0034] BRIEF DESCRIPTION OF THE DRAWINGS

[0035]

[0017] The accompanying drawings, which are incorporated herein, and constitute a part of this invention, illustrate exemplary embodiments of the disclosed methods and systems in which like reference numerals refer to the same parts throughout the different drawings. Components in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the present invention.

[0036]

[0018] Some drawings may indicate the components using block diagrams and may not represent the internal circuitry of each component. It will be appreciated by those skilled in the art that disclosure of such drawings includes disclosure of electrical components or circuitry commonly used to implement such components.

[0037]

[0019] Although exemplary connections between sub-components have been shown in the accompanying drawings, it will be appreciated by those skilled in the art, that other connections may also be possible, without departing from the scope of the invention. All sub-components within a component may be connected to each other, unless otherwise indicated.

[0038]

[0020] FIG.l illustrates an exemplary embodiment of a system, in accordance with an embodiment of the present disclosure.

[0039]

[0021] FIG. 1 illustrates an exemplary embodiment of the system, in accordance with an embodiment of the present disclosure.

[0040]

[0022] FIG. 2 illustrates an exemplary embodiment of the system, in accordance with an embodiment of the present disclosure.

[0023] FIG. 3 illustrates an exemplary embodiment of the system, in accordance with an embodiment of the present disclosure.

[0041]

[0024] Fig.4a and FIG.4b illustrate a passive dock, in accordance with an embodiment of the present disclosure.

[0042]

[0025] FIG.4c and FIG.4d illustrate an active dock, in accordance with an embodiment of the present disclosure.

[0043]

[0026] FIG.5 a and FIG.5b illustrate a hub with two ports, in accordance with an embodiment of the present disclosure.

[0044]

[0027] FIG.5c and FIG.5d illustrate a hub with four ports, in accordance with an embodiment of the present disclosure.

[0045]

[0028] FIG.5e and FIG.5f illustrate a hub with eight ports, in accordance with an embodiment of the present disclosure.

[0046]

[0029] FIG.6a to FIG.6d illustrate inline offsets, in accordance with an embodiment of the present disclosure.

[0047]

[0030] FIG.7a and FIG.7b illustrate offline offset, in accordance with an embodiment of the present disclosure

[0048]

[0031] FIG.8a and FIG.8b different embodiments of brackets, in accordance with an embodiment of the present disclosure.

[0049]

[0032] FIG.9a and FIG.9b illustrate front perspective view and back perspective view of pods with vacuum suction cup, in accordance with an embodiment of the present disclosure

[0050]

[0033] FIG.9c and FIG.9d illustrate front perspective view and back perspective view of pods without vacuum suction cup, in accordance with an embodiment of the present disclosure

[0051]

[0034] FIG.9e and FIG. 9f illustrate front perspective view and back perspective view of pods with multiple vacuum suction cups, in accordance with an embodiment of the present disclosure

[0052]

[0035] FIG.9g and FIG. 9h illustrate front perspective view and back perspective view of pods without vacuum suction cups, in accordance with an embodiment of the present disclosure

[0036] The foregoing shall be more apparent from the following more detailed description of the invention.

[0053] DESCRIPTION OF THE INVENTION

[0054]

[0037] Exemplary embodiments now will be described with reference to the accompanying drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey its scope to those skilled in the art. The terminology used in the detailed description of the particular exemplary embodiments illustrated in the accompanying drawings is not intended to be limiting. In the drawings, like numbers refer to like elements.

[0055]

[0038] The specification may refer to “an”, “one” or “some” embodiment(s) in several locations. This does not necessarily imply that each such reference is to the same embodiment(s), or that the feature only applies to a single embodiment. Single features of different embodiments may also be combined to provide other embodiments.

[0056]

[0039] As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless expressly stated otherwise. It will be further understood that the terms “include”, “comprises”, “including” and / or “comprising” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It will be understood that when an element is referred to as being “connected” or “coupled” to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Furthermore, “connected” or “coupled” as used herein may include wirelessly connected or coupled. As used herein, the term “and / or” includes any and all combinations and arrangements of one or more of the associated listed items.

[0040] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0057]

[0041] In the following description, for the purposes of explanation, numerous specific details have been set forth in order to provide a description of the invention. It will be apparent, however, that the invention may be practiced without these specific details and features.

[0058]

[0042] Conventional systems had to be tailored specifically for a task at hand, leading to long development cycles and high upfront costs which lead to increased risk of errors and inefficiencies, as each solution was unique and lacked standardized components or processes. Further, in conventional systems, critical components such as vacuum cups, valves, and mounting plates were sourced individually and manually integrated into the system. The process of selecting and integrating each part separately also increased the potential for mismatched or incompatible components, which affected overall system performance and reliability. The lack of modularity and standardization in conventional systems resulted in starting each project from the scratch. Further, in conventional systems, due to the absence of organized design solutions, temporary fixes were often used to address functional or aesthetic challenges. For example, custom routing for wires and tubes was applied to improve the appearance of the setup, but these workarounds were inefficient and often did not provide long-term solutions.

[0059]

[0043] The present disclosure overcomes the above-mentioned technical disadvantages by providing a modular vacuum gripping system that includes components like docks, pods, offsets, and hubs, empowers users to build your own gripper (BYOG) for a wide range of applications. The present disclosure enables quick customization to meet specific task requirements without the need for complex reengineering. The present disclosure utilizes a standardized male-female coupling mechanism withtwist-lock functionality, allowing for quick assembly and reconfiguration. This enables users to easily interchange and adapt the components as needed, improving efficiency and reducing downtime. Additionally, the ease of reconfiguration enhances the system's scalability, making it suitable for a variety of applications with minimal effort. Customizations and integrations add significant delays in completing projects and increased turnaround time. Increased number of components and connections introduces higher risks of breakdown and inefficiency. From End Users’ Viewpoints, Complex setups lead to frequent maintenance requirements, increasing downtime and costs. Traditional systems are not designed for quick and seamless transitions between tasks or products. Disorganized systems with visible tubes and wires are visually unappealing, reducing workplace ergonomics. End users rely heavily on external integrators for implementation and troubleshooting, reducing autonomy. The initial setup, combined with frequent maintenance and dependency on experts, inflates costs. Inefficiencies in existing systems lead to higher energy consumption and resource wastage.

[0060]

[0044] The present disclosure provides a scalable vacuum gripping system that accommodates couplers and adapters of different sizes, enabling users to build adaptable systems tailored to meet specific requirements.

[0061]

[0045] The present disclosure provides an internal vacuum channel connecting all the modules, thereby allowing for seamless flow of fluid to be delivered to all parts of the assembled gripper, eliminating the need for external tubing.

[0062]

[0046] The present disclosure leverages additive manufacturing technology to significantly reduce weight of the gripper, resulting in lower payloads to the equipment, thereby resulting in lower energy consumption.

[0063]

[0047] The present disclosure utilizes built-in control valves that control airflow with precision, reducing failure points and improving reliability.

[0064]

[0048] The present disclosure provides a vacuum gripping system that is compatible with different types of robots. The system ensures versatility and long-term usability across diverse industries by being able to fit any standard vacuum suction element. This accelerates the construction of end-of-arm tooling and makes the systemadaptable to a wide range of applications and tasks that reduces setup time and increases efficiency.

[0065]

[0049] The present disclosure falls within the field of robotics and automation, specifically focusing on end-of-arm tooling (EOAT) systems used in industrial automation. It leverages advanced vacuum and pneumatic technology to create a modular, adaptable, and scalable gripper system designed for robotic applications.

[0066]

[0050] The present disclosure provides a unique twist to lock mechanical coupling system that seals internal vacuum paths while securing components in place, enabling fast, tool-free and leak-tight assembly. This present disclosure introduces a modular vacuum gripping system designed to handle diverse automation tasks across industries. Its plug-and-play architecture allows for rapid reconfiguration, enabling robots to handle a variety of objects with precision and efficiency. The system integrates internal fluid pathways, customizable gripper configurations, and advanced coupling mechanisms, ensuring universal compatibility with robotic arms and peripheral devices.

[0067]

[0051] The proposed invention can be employed across a wide range of industries, including manufacturing for component assembly, inspection, and material transfer, logistics and warehousing for bin picking, palletizing, depalletizing, and order fulfilment, food and beverage for hygienic handling, sorting, and packaging of food items, electronics for the precise placement of delicate components such as printed circuit boards and sensors, pharmaceuticals for handling vials, syringes, and diagnostic kits in cleanroom environments, recycling for automated sorting of recyclable materials, agriculture for harvesting, sorting, and packing fruits, vegetables, and flowers, and construction for lifting and placing building materials such as tiles, bricks, and sheet metal.

[0068]

[0052] Referring to Fig.l, the modular vacuum gripping system 100 includes modular members 110a, 110b, 120, 140, 150, 160 housing an internal fluid distribution system. The first member 110 interfaces with an automated handling apparatus. As used herein, an automated handling apparatus includes robotic arms, industrial robots, gantry systems, and other automated manipulators.

[0053] The modular vacuum gripping system 100 includes second modular members that mechanically couple with the first member 110 or with the at least another second modular member 120, 130, 140, 150, 160, 170. The second modular members 120, 130, 150, 160 are configured to fluidly couple with the first member 110 or with the second modular member 120, 130, 140, 150, 160, 170 through the internal fluid distribution system, based on the received control signals for end-of-arm gripping operations.

[0069]

[0054] According to an embodiment, the first member 110 is selected from a dock or any device configured to support, mount or couple with an automated coupling system. The second modular members 120, 130, 140, 150, 160, 170 are selected from a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device. The second modular members 120, 130, 140, 150, 160, 170 include one or more control valves for controlling vacuum flow or pneumatic pressure.

[0070]

[0055] The first member 110a is a active dock that interfaces with an automated handling apparatus. According to an embodiment, the dock 110 may be an active dock 110a or a passive dock 110b.

[0071]

[0056] In an example, the first member 110a is an active dock that interfaces with an automated handling apparatus such as a robotic arm. A reducer 150 is arranged to provide a transition between second modular members active dock 110a and hub 120 having different frame sizes. During operation, vacuum and control signals are transmitted from the automated handling apparatus to the active dock 110a, and vacuum flow is routed through a reducer 150 to a hub 120, wherein the reducer 150 enables mechanical and fluidic transition between components of differing frame sizes. An offline offset 130 is coupled to the hub 120 to provide positional adjustment and to route the vacuum path to one or more passive docks 110b. The passive docks 110b distribute the vacuum through an additional reducer 150 to one or more vacuum gripper pods 160. The vacuum gripper pods 160 generate suction at their gripping surfaces to pick up, hold, and release materials in response to the control signals, thereby enabling coordinated and modular material handling through the automated handling apparatus.

[0057] As illustrated in Fig. 2, in another exemplary embodiment of the modular vacuum gripping system 100, a passive dock 110b is coupled to one or more offset modules and a vacuum gripper pod 160 to provide flexible positioning without active control elements. The passive dock 110b is configured to mechanically and fluidly couple with an upstream modular member and to receive vacuum therefrom without independently processing control signals. A horizontal offset module 130a is coupled to the passive dock 110b to laterally displace the vacuum gripper pod 160 relative to the automated handling apparatus while maintaining fluid continuity within the internal vacuum distribution path. Additionally, a vertical offset module 130b is coupled to the passive dock 110b to vertically displace the vacuum gripper pod 160, enabling height adjustment and clearance optimization. The offset modules 130a, 130b route the vacuum through their internal passages to the vacuum gripper pod 160, which generates suction at its gripping surface to pick up, hold, and release materials.

[0072]

[0058] Referring to Fig- 3, in another exemplary embodiment, the modular vacuum gripping system 100 includes an active dock 110a directly coupled to a vacuum gripper pod 160 without intermediate modular members. The active dock 110a is configured to interface with an automated handling apparatus, the automated handling apparatus including robotic arms, industrial robots, gantry systems, or other automated manipulators. During operation, the active dock 110a receives compressed air from the automated handling apparatus and directly routes the vacuum through its internal fluid distribution system to the coupled vacuum gripper pod 160. The vacuum gripper pod 160 generates suction at its gripping surface to pick up, hold, and release materials in response to the control signals received via the active dock 110a. This direct coupling configuration enables a compact and simplified assembly while maintaining controlled vacuum actuation and precise material handling.

[0073]

[0059] The modular members 110, 120, 130, 140, 150, 160, 170 include one or more interface portions for coupling with a complimentary interface portion of another modular member 110, 120, 130, 150, and 160 by twist-lock mechanism. The interface portion includes at least two wedge portions for progressive engagementwith the complimentary interface portion and a terminal portion for locking with the complimentary interface portion. The interface portions include cooperating wedge- shaped surfaces on respective male and female coupling parts, which, upon relative rotation, generate progressive axial engagement and increasing retention forces. As rotation reaches a terminal position, the coupling enters a locked condition in which relative movement is constrained in six degrees of freedom, thereby providing positive mechanical locking while maintaining alignment and sealing of an internal fluid pathway. Advantageously, this configuration enables rapid, tool-free assembly and disassembly and reduces the risk of inadvertent disengagement under operational loads. The modular members 140, 170 comprises an ISO50 Flange for coupling with a complimentary interface portion of at least another modular member 110, 120, 140, 170 by fastening mechanism.

[0074]

[0060] The dock 110 (as shown in Fig. 4a to Fig. 4d) serves as an interface between a mechanical linkage and the vacuum gripper. As used herein, a dock refers to device or an interface through which a robot connects to another object or system to perform specific functions such as changing tools, recharging power sources, transferring data, or loading / unloading materials. As used herein, the term active dock refers to a dock of an end-of-arm tooling (EOAT) systems including one or more powered, actuated, or controllable components configured to actively engage, secure, align, or release an EOAT or EOAT module and a passive dock refers to a dock having no actuated or powered components and providing only mechanical support or alignment for an EOAT.

[0075]

[0061] The dock 110 includes a dock main body 101 with an upper mounting region 112 and a lower connecting region 113. The upper mounting region 112 provides an electrical and mechanical interface for integrating a wide variety of peripherals, such as the robot arm to the dock. The upper mounting region 112 includes a bearing plate 1121 and a robot coupling interface 1122. The bearing plate 1121 is configured to mechanically support a robot arm or a robot-mounted component and to transfer operational loads to the dock main body 101.

[0076]

[0062] Referring to Fig. 4a and Fig. 4b, the passive dock 110b is configured to receive vacuum from an external source. Referring to Fig. 4c and Fig. 4d, the active dockincludes a controller board 118 and an input-output port 119 to communicate with an automated control system such as a robot controller and / or an external control system to facilitate plug-and-play operation. When a tool or a modular component is connected to the dock, it is automatically detected and operated by the robot without requiring manual configuration or rewiring. The active dock 110a is configured to receive compressed air. In an embodiment, the active dock 110a may be connected to an external controller or may include an in-built controller. In an active dock with an on-board control valve, the in-built controller controls the onboard control valve. In embodiments where the active dock 110a may be connected to an external controller, the external controller controls the dock inlet 115. The active dock 110a includes a silencer 114 for attenuating the noise generated during the operation of the dock 110. The active dock 110a includes a dock reactor 119 configured to receive a user input and generate a control signal for operation of the active dock. The active dock 110a includes a status indicator 116 that is configured to indicate the status of the system to the user indicating the flow, pressure or other operational parameters of the fluid or vacuum.

[0077]

[0063] The docks 110 include a dock inlet 115 through which it receives compressed air or vacuum and sends it to an internal fluid distribution system through the dock outlet 111 that distributes the fluid pressure across the various components of the system. The internal fluid distribution system of the dock 110 includes an integrated vacuum ejector system and a vacuum system.

[0078]

[0064] The internal fluid distribution system is configured to operate in two different modes depending on the input received by the dock inlet 115. In an embodiment, the dock inlet 115 receives vacuum from an external vacuum source for delivery to the internal vacuum system. In another embodiment, the dock inlet 115 may be adapted to receive compressed air. The integrated vacuum ejector system receives compressed air as an input and allows it to flow through a nozzle (not shown) that creates a low-pressure region, thereby generating vacuum. They provide streamlined pneumatic distribution. As an advantage, a single inlet replaces messy multi-tube setups used in traditional systems.

[0065] Advantageously, the present disclosure provides universal compatibility. The docks 110 are configured to connect directly to a robot flange or to an alternative mechanical linkage and serve as a foundational interface for all other components. In particular, the upper mounting region 112 of the dock includes the robot coupling interface 1122 for mechanically coupling with a robot flange of an industrial robot, either directly or via an intermediary mechanical linkage, thereby enabling integration across different robot brands and configurations through the upper mounting region 112.

[0079]

[0066] The docks 110 may further be coupled to one or more modular components via a standardized coupling mechanism that provides a unique twist-to-lock mechanical coupling system that securely locks components in place while sealing internal vacuum paths, enabling fast, tool-free and leak-tight assembly. As used herein, a standardized coupling mechanism refers to a mechanical coupling arrangement such as a locking, latching, or twist-lock mechanism, that enables detachable coupling between mating components. The lower connecting region 113 includes a first interface portion 117 configured to mechanically couple with the modular components via a standardized coupling mechanism. In some embodiments, the modular components are tools are adapted to be directly coupled with the dock. The modular components may include, by way of example and without limitation, one or more tool modules, interface modules, extension modules, or functional modules, such as a pod, a hub, an offset or a passive dock. As used herein, the term attached tool or tool refers to one or more end-of-arm tooling components coupled, directly or indirectly, to the dock. The coupling of the modular component with the dock 110 enables quick assembly, disassembly, and reconfiguration of the modular components.

[0080]

[0067] The internal fluid distribution system provides an internal fluid pathway that extends through the dock and the modular components to deliver pneumatic or vacuum flow to the pod while minimizing external tubing between the modular components.

[0081]

[0068] The present disclosure includes a modular component selected from at least a hub.

[0082] In a preferred embodiment, the hub may be coupled to the dock. Referring to Fig.

[0083] 5a to Fig. 5f, the hub 120 may be coupled to the dock 110. The hub 120 providesdistribution and scalability. Hubs enable the distribution of pneumatic or vacuum flow to multiple pods or tools, forming clusters of EOAT components from a single dock. Referring to Fig. 5a to Fig. 5f and Fig. 4b, the hub 120 may include a second interface portion 126 for coupling with the first interface portion 117 of the dock 110.

[0084]

[0069] The hubs 120 allow connection of the dock 110 to other modular components, system elements, or external structures, thereby facilitating integration of the tool with additional mechanical setups or external support structures. Each hub 120 includes a hub inlet port 122 configured to receive a pneumatic or vacuum supply from a second modular member 110, 130, 150, 160. In an example, hub inlet port 122 configured to receive a pneumatic or vacuum supply from the dock 110. The hubs include internal flow passages and one or more valves for regulating and controlling fluid distribution, and a plurality of hub outlet ports 124 configured to deliver pneumatic or vacuum flow to multiple downstream tooling components. The hub 120 functions as a distribution module by splitting and routing pneumatic or vacuum flow to a plurality of attached tools or modular components via the hub outlet ports 124. The outlet ports 124 are pneumatic ports configured to distribute flow internally to the connected modular components such as a pod. By routing pneumatic or vacuum flow through the internal fluid pathway of the hub and connected modular components, the system reduces or eliminates the need for external tubing, valves, or manifolds.

[0085]

[0070] The hub includes a dock reactor 123, an accessories mounting face at the lower end for releasably mounting one or more accessories or other end-of-arm tooling components. The accessories mounting face includes a flange 127 for coupling with a complimentary interface portion of at least another modular member 110, 140, 170 by fastening mechanism.

[0086]

[0071]

[0087]

[0072] By integrating multiple pneumatic ports, hubs simplify the distribution of airflow to specific pods or tools, reducing the need for external valves or manifolds. Hubs (as shown in Fig. 5a to 2f) support standardized mounting such as ISO50 Flange. Compatibility, allowing easy integration with other modular components includingpods, offset modules or other external support structures forming part of an end-of- arm tooling system.

[0088]

[0073] According to an embodiment, the modular component is selected from at least one offsets 130 (as shown in Fig. 6a to Fig. 6m) that provide geometric adaptability to other attached modular components including pods, offset modules or other external support structures forming part of an end-of-arm tooling system. The offsets 130 may be used to position the attached modular component in one or more spatial directions relative to the dock. In an example, the offsets may be used to position the attached modular component in a horizontal direction or a vertical direction. The offset includes an offset main body 131 and one or more second offset interface portions 136 at the upper end for coupling with the first interface portion of other modular components. The offset includes one or more first offset interface portion 137 at the lower end for coupling with a second interface portion of other modular components. The offset main body 131 includes an offset reactor that is configured to receive a user input and generate a control signal for operation of the offset. The offset may include one or more accessories mounting face 135 for direct integration of accessories like barcode scanners, cameras, and sensors or EOAT components.

[0089]

[0074] The offset may be selected from inline offsets or offline offsets. Each of the inline offsets maintain the vacuum or pneumatic flow while providing flexibility in positioning the gripper in one or more spatial directions including X, Y, or Z directions. The inline offset 130 (as illustrated in Fig. 6a to Fig. 61) includes an offset inlet 132 for receiving vacuum or compresses fluid from the dock or other modular component. In an example, the inline offset has an integrated fluid passage that allows vacuum to flow directly from the dock to the pod. In an example, the second offset interface portion 136 of the hub may be coupled with the first interface portion 117 of the dock 110. The first offset interface portion 137 may be coupled with the first interface portion of a pod. The compressed fluid flows from the dock to the pod. The base offset interface portion includes a flange 130 for coupling with with a complimentary interface portion of at least another modular member 110, 140, 170.

[0075] In contrast, the offline offsets 140 (as illustrated in Fig. 7a to Fig. 7b) are formed from plates and profile members to provide application-specific spatial configurations and do not include internal fluid passages. The offline offset includes a mounting face 132 and a profile mounting screw that is used to mechanically secure the mechanical offset 140 to a structural profile or to mount EOAT components onto the mechanical offset bracket via a profile. Offline offsets provide mechanical flexibility without interrupting airflow, allowing for complex configurations.

[0090]

[0076] Referring to Fig. 8a and Fig. 8b, a mechanical offset bracket or a Z-bracket is used to reposition modular components along the vertical direction or to create clearance between components. The Z-bracket is attached using a profile mounting screw 171 and includes a bracket interface portion 178 configured to interface with other modular components, thereby offsetting the position of the modular components relative to the robot arm or other modular components.

[0091]

[0077] In an example, the offline offset is positioned between the dock and the pod to spatially separate the pod from the dock by a selected distance or orientation. The hub is configured to receive vacuum from a main dock and to distribute the vacuum to one or more downstream components. Each passive dock is fluidly coupled to the hub to receive the distributed vacuum therefrom, the passive dock providing a mounting interface to which a pod is attached.

[0092]

[0078] According to an embodiment, the system 100 includes one or more reducers 150 configured to provide a transition between components having different frame sizes or interface dimensions. Each reducer 150 is arranged between two components of the system 100 and defines a first interface 157 corresponding to a first frame size and a second interface 156 corresponding to a different frame size. Reducers 150 are included to enable coupling between incompatible components having different frame sizes.

[0093]

[0079] According to an embodiment, the system 100 includes pods 160 that are adaptable vacuum tools that provide flexible gripping configurations. The pods 160 may be coupled to the dock 110 or through the hub 120 through a standard coupling interface. Referring to Fig.9a-9h, each pod 160 includes one or more pod inlet ports162 one or more suction element interfaces configured to selectively receive corresponding suction elements, such as suction cups, for engaging a workpiece. In some embodiments, the pods 160 are preconfigured with a plurality of suction element interfaces 165, for example ranging from one to nine interfaces, depending on application requirements.

[0094]

[0080] The number and arrangement of suction element interfaces on a pod 160 may be selectable based on a geometry of a workpiece. The pods 160 are provided in multiple configurations having different pitch distances between adjacent suction element interfaces to accommodate different workpiece sizes and layouts. Each suction element interface is configured to receive one or more types of suction elements for use in different gripping applications. This unique modular arrangement allows the system to be easily scaled to accommodate larger or more complex workpieces without requiring redesign of individual pods.

[0095]

[0081] The present disclosure provides a method 200 for assembling and operating a modular vacuum gripping system 100. The modular vacuum gripping system 100 houses an internal fluid distribution system and includes a first member 110 and a plurality of second modular members 120, 130, 140, 150, 160, 170 fluidly coupled to the first member 110 through the internal fluid distribution system for distribution of vacuum or compressed air.

[0096]

[0082] As show in Fig. 10, at a step 202, the first member 110 is operably coupled to an automated handling apparatus. At a step 204, the one or more second modular member 120, 130, 140, 150, 160, 170 are coupled to the first member 110 and / or the one or more second modular members 120, 130, 140, 150, 160, 170, each by twist-lock coupling mechanism. At a step 206, the control signals are received by the first member 110 from the automated handling apparatus, following which, at a step 208 vacuum or compressed air is received through dock inlet 115 based on the received control signals. Finally, at a step 210, vacuum flow or pneumatic pressure is allowed to flow via the internal fluid distribution system through one or more second modular members 120, 130, 140, 150, 160, 170 for end-of-arm gripping operations.

[0083] According to an embodiment, the at least one first member 110 is selected from a dock or any device configured to support, mount or couple with an automated coupling system. The at least one second modular members 120, 130, 140, 150, 160, 170 is selected from a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device. The at least one second modular members 120, 130, 140, 150, 160, 170 includes one or more first member 110 for controlling vacuum flow or pneumatic pressure.

[0097]

[0084] The present disclosure has broad industrial applicability across multiple sectors by enabling flexible, modular, and efficient automated gripping and handling. In manufacturing and assembly environments, the present disclosure facilitates precise handling, positioning, and assembly of components in industries such as automotive, electronics, and consumer goods, including small or delicate parts. In bin-picking applications, the present disclosure automates extraction of items from bins or containers in unstructured environments, improving sorting and assembly accuracy while reducing manual intervention.

[0098]

[0085] In packaging and palletizing operations, the present disclosure supports automated case forming, palletizing, and depalletizing of boxes, cartons, and bags in logistics and distribution centers, while adapting to diverse package sizes and materials to enhance throughput. The present disclosure is also applicable to general material handling for efficiently moving raw materials, work-in-progress goods, and finished products, including irregularly shaped or fragile items. In the food and beverage industry, the present disclosure enables hygienic handling of baked goods, fresh produce, and packaged items, ensuring contamination-free operation and gentle handling of perishables. In pharmaceutical and healthcare settings, the present disclosure manages delicate items such as vials, syringes, and diagnostic kits with precision and is suitable for cleanroom environments requiring strict hygiene and safety standards. The present disclosure further supports high-speed picking, sorting, and packing in e-commerce and retail fulfilment, with customizable configurations for handling a wide variety of Stock Keeping Units (SKUs). In electronics and semiconductor industries, the present disclosure is suitable forplacing and handling fragile, high-value components such as microchips and printed circuit boards, including anti-static configurations.

[0099]

[0086] Additionally, the present disclosure may be employed in recycling and waste management for automated sorting of recyclable or hazardous materials, in construction and heavy industries for handling building materials and heavy or irregular objects, in agriculture and horticulture for gentle harvesting and packing of produce, and in customized or niche applications such as aerospace manufacturing and additive manufacturing, thereby expanding automation capabilities across diverse industrial domains.

[0100]

[0087] The present disclosure provides a modular vacuum gripping system designed to enhance flexibility and efficiency in robotic arm operations. The system includes hubs, positioned centrally, that distribute vacuum or pneumatic flow to multiple pods or tools, simplifying airflow management. The system includes docks that allow easy connection and disconnection of end-of-arm tools (EOAT), while also channeling vacuum from an external source to the system. The system includes pods that generate vacuum and are equipped with multiple interfaces to accommodate different suction elements. The system includes offset mechanisms that adjust the positioning of tools along horizontal, vertical, or angular axes, enabling precise movements and flexibility to bypass obstacles without disrupting airflow. The system includes extension profiles provide support for clustering pods or attaching additional devices like sensors or cameras. The system includes brackets that securely mount EOAT tools and components to the robotic arm or extension profiles, ensuring stability during use.

[0101]

[0088] The present disclosure offers numerous advantages related to integrated pneumatic and vacuum tooling. A few of the advantages achieved using the features of the present disclosure are provided below:

[0102] • The present disclosure provides an efficient modular vacuum gripping system that enables robots to handle a variety of objects with precision and efficiency.

[0103] • The present disclosure provides an efficient modular vacuum gripping system that allows for rapid reconfiguration with minimal downtime, enabling seamless transitions between tasks and enhancing operational flexibility.• The present disclosure provides an efficient modular vacuum gripping system that ensures universal compatibility with robotic arms and peripheral devices. Modular and adjustable gripper components enable handling of complex, fragile, or high-precision items.

[0104] • The present disclosure provides a reconfigurable and scalable vacuum gripping system including clustered gripper configurations that allows for quick and easy adjustments, enabling seamless transitions between tasks and applications without requiring significant downtime or complex reconfiguration.

[0105] • The present disclosure provides a cost-effective, modular, and easy-to-maintain vacuum gripping system that reduces operational costs by minimizing custom tooling, downtime, and energy usage, simplifies maintenance processes, and enhances overall system reliability.

[0106] • Internalized fluid channels reduce wear, minimize downtime, and lower maintenance requirements. By eliminating external tubing and exposed components, the system provides clean aesthetics, improved workplace ergonomics, and enhanced robot range of motion.

[0107] • The system is designed for durability in harsh industrial environments using robust materials and, in some embodiments, IP-rated components for environmental protection. Streamlined mechanical setup and software integration reduce deployment time and associated costs, while smart flow regulation optimizes vacuum or pneumatic usage to improve efficiency and reduce energy consumption.

[0108] • The plug-and-play functionality simplifies deployment and reduces training requirements. The system provides high positional accuracy and customizable configurations for ensuring precise handling, and seamless integration with peripheral devices such as cameras and sensors enhances overall versatility.

[0109]

[0089] While the present invention has been described with reference to certain preferred embodiments and examples thereof, other embodiments, equivalents, and modifications are possible and are also encompassed by the scope of the present invention.

Claims

WE CLAIM1. A modular vacuum gripping system (100), comprising:a plurality of modular members (110, 120, 130, 140, 150, 160, 170) housing an internal fluid distribution system, comprising:a first member (110) configured to interface with an automated handling apparatus and housing a portion of an internal fluid distribution system;a plurality of second modular members (120, 130, 150, 160), each housing atleast a portion of the internal fluid distribution system, adapted to mechanically and fluidly couple with the at least one first member (110) or with the at least another fluidcarrying second modular member (120, 130, 150, 160);a plurality of non-fluid mechanical modular members (140,170) configured to mechanically couple with at least one of the fluidcarrying secondary modular members;wherein coupling of the modular members forms a continuous internal fluid pathway through the fluid-carrying modular members;and wherein the modular vacuum gripping system (100) is configurable, by selective arrangement of the modular members, to support at least one vacuum gripping element for end-of-arm gripping operations.

2. The modular vacuum gripping system (100) as claimed in claim 1, wherein the first modular member (110) comprises a fluid supply interface configured to selectively supply compressed air and / or vacuum to the internal fluid distribution system, wherein the fluid supply interface comprises at least one of:(a) an inlet port (115) configured to receive compressed air, the first modular member (HO) being configured to:(i) supply the compressed air to the internal fluid distribution system; and / or (ii) generate vacuum from the compressed air using an in-built vacuum generator and supply the generated vacuum to the internal fluid distribution system;(b) an inlet port (115) configured to receive vacuum generated external to the first modular member (110), the received vacuum being supplied to the internal fluid distribution system; or(c) an electrically driven vacuum generation unit integrated within the first modular member (110) and configured to generate vacuum for supply to the internal fluid distribution system without an external pneumatic inlet.

3. The modular vacuum gripping system (100) as claimed in claim 2, wherein the first modular member (110) comprises at least one solenoid valve configured to control supply of compressed air and / or vacuum, the solenoid valve being controlled by at least one of:(a) a controller integrated within the first modular member (110); or(b) an external controller operatively coupled to the solenoid valve.

4. The modular vacuum gripping system (100) as claimed in claim 1, wherein at least one modular member (110, 120, 130, 150, 160) comprises one or more interface portions for coupling with a complimentary interface portion of at least another modular member (110, 120, 130, 150, 160) by twist-lock mechanism,wherein the at least one interface portion comprises:at least two wedge portions for progressive engagement with the complimentary interface portion; anda terminal portion for locking with the complimentary interface portionwherein at least one modular member (120, 130, 140, 170) comprises a flange portion (127, 135, 178) for coupling with a complimentary interface portion of at least another modular member (110, 140, 170).

5. The modular vacuum gripping system (100) as claimed in claim 1, wherein the at least one first member (110) is selected from a dock (no);wherein the dock (110) is selected from an active dock (110a) or a passive dock (110b); wherein the at least one second modular members (120, 130, , 150, 160, is selected from a passive dock, a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device; and wherein the at least one first member (110) comprises one or more control valves for controlling vacuum flow or pneumatic pressure.

6. The modular vacuum gripping system (100) as claimed in claim 4, wherein the hub (120) comprises:at least one hub inlet port (122) fluidly connected to the at least one modular members (110, 130, 150, 160,) for receiving vacuum flow or pneumatic pressure;a flange (127) adapted to attach with at least one second modular member (140, 170); a plurality of hub outlet ports (124) fluidly connected to hub inlet port (122) and configured to distribute vacuum flow or pneumatic pressure to one or more second modular members (110) or any other device) through one or more pneumatic fluid conduits.

7. The modular vacuum gripping system (100) as claimed in claim 4, wherein the pod (160) comprises:at least one pod inlet port (162) fluidly connected to the at least one modular members (110, 130, 150) for receiving vacuum flow or pneumatic pressure; anda plurality of suction element interfaces (165) fluidly connected to pod inlet port (162) configured to operably coupled with corresponding suction elements for end-of-arm gripping operations based on the received vacuum flow or pneumatic pressure.

8. The modular vacuum gripping system (100) as claimed in claim 4, wherein the at least one inline offset (130) fluidly connected to the at least one modular member (110, 120, 130, 150, 160) for receiving vacuum flow or pneumatic pressure for providing spatial adjustment along a plurality of axes; andwherein the at least one offline offset (130) configured to mechanically couple with the at least one modular member (110, 120, 130, 140, 150, 160, 170) for providing spatial adjustment along a plurality of axes.

9. The modular vacuum gripping system (100) as claimed in claim 4, wherein the at least one second modular member (140, 170) comprises an extension profile for providing structural support and / or mounting at least one peripheral device along one or more axes, wherein the peripheral device is selected from one or a combination of a sensor, camera, or scanner.

10. A method (200) for assembling and operating a modular vacuum gripping system (100), the modular vacuum gripping system (100) housing an internal fluid distribution system, comprising a first member (110) and a plurality of second modular members (120, 130, 140, 150, 160, 170) fluidly coupled to the first member (110) through the internal fluid distribution system, the method (200) comprising:coupling operably the first member (110) to an automated handling apparatus;coupling one or more second modular member (120, 130, 140, 150, 160, 170) to the first member (110) and / or the one or more second modular members (120, 130, 140, 150, 160, 170), each by twist-lock coupling mechanism or other fastening mechanism;receiving vacuum or compressed air through dock inlet (115); allowing vacuum flow or pneumatic pressure to flow through the internal fluid distribution system through one or more second modular members (120, 130, 140, 150, 160, 170) for end-of-arm gripping operations.

11. The method (200) of assembling and operating a modular vacuum gripping system (100) as claimed in claim 9,wherein the at least one first member (110) is selected from a dock; wherein the at least one second modular members (120, 130, 140, 150, 160, 170) is selected from a hub, an offset, a reducer, a pod, an extension profile, a bracket or an end-of-arm tooling device.

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