Composite robotic suction gripping apparatus augmented with shear force elements
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- LAB0 INC
- Filing Date
- 2026-02-03
- Publication Date
- 2026-08-06
Smart Images
Figure IMGF000023_0001 
Figure 00000032_0000 
Figure 00000032_0001
Abstract
Description
Docket No. FSP2417PCTCOMPOSITE ROBOTIC SUCTION GRIPPING APPARATUS AUGMENTED WITH SHEAR FORCE ELEMENTSCROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. provisional patent application serial no. 63 / 753,015, filed on February 3, 2025, the contents of which are incorporated herein by reference in their entirety.BACKGROUND
[0002] Suction based grippers (suction cups or suction applied through foam) are one of the de-facto standards in automated robotic material handling of pickable objects, such as corrugated cardboard boxes used to store and transport goods in the manufacturing, packaging, supply chain, and logistics industry. Their advantages are that they attach quickly and hold a box from only one side and are simple to control and implement using compressed air or vacuum pumps. Generally, there are two main directions from which a box is picked. A top pick scenario involves picking from the top at a predominantly horizontal face. A side pick scenario involves picking from the side at a predominantly vertical face.
[0003] However, there is an inherent limit of how much suction is generated on a given surface area. Only one atmosphere (~1 bar) of pressure difference is possible without damaging the box or picking equipment. Usually, suction cups operate at around 0.6 bar for cardboard applications. They also rely on being able to apply suction across sufficient surface area on the surface of a pickable object. For this reason, there are boxes for which suction alone is not sufficient to pick them. There are boxes that are heavy, long in the dimension perpendicular to the gripper and only present a small face to be picked are challenging to pick. Heavy boxes in particular cannot be picked if they only expose a small face. Fundamentally, in those cases suction generated by conventional suction grippers is insufficient to pick those boxes, and there is a physical limit to how much such suction grippers may be improved while using suction alone. Purely suction based grippers fail prematurely in shear when exposed to high dynamic forces while moving quickly.
[0004] There is, therefore, a need for an improved gripping apparatus that overcomes the limitations of conventional suction grippers.BRIEF SUMMARYDocket No. FSP2417PCT
[0005] A suction gripping apparatus is designed to pick and hold objects in place using a combination of suction force and guiding support pins. The hybrid action of the guiding support pins is meant to resist the shear forces imposed during activation of the suction-based grippers and during dynamic movements. The apparatus consists of a suction gripping unit, including guiding support pins, a contact surface reinforcement sliding plate, and a suction chamber. The suction chamber is equipped with a contact surface that applies suction force to the object being picked. The contact surface is flanked by a side wall with a contacting edge, and an inner groove in the side wall above the contacting edge that accepts the sliding plate, which provides reinforcement to the suction gripping unit during suction action. The apparatus is also equipped with a suction port that interfaces with a vacuum suction system, allowing for the application of vacuum suction to the object being picked.
[0006] In using the suction gripping apparatus, an object is first aligned with the apparatus, and the apparatus is then applied to a surface of the object. A vacuum suction is applied at the contact surface, and suction force is applied to the object using the contact surface. The object may be manipulated while maintaining the suction force, and when needed, the suction force may be released by reducing the vacuum suction, allowing the object to be released from the apparatus.BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0007] To easily identify the discussion of any particular element or act, the most significant digit or digits in a reference number refer to the figure number in which that element is first introduced.
[0008] FIGs. 1A–1I illustrate a suction gripping apparatus 100 comprising a suction gripping unit 102 in accordance with one embodiment.
[0009] FIGs. 2A–2C illustrate a guiding support pin 200 in accordance with one embodiment.
[0010] FIGs. 3A–3C illustrate a gripping end effector 300 in accordance with one embodiment.
[0011] FIG. 4 illustrates a robot arm with gripping end effector system 400 in accordance with one embodiment.
[0012] FIG. 5 illustrates a routine 500 in accordance with one embodiment.
[0013] FIGs. 6A–6C illustrate a hexagonal suction gripping apparatus 600 in accordance with one embodiment.Docket No. FSP2417PCT
[0014] FIGs. 7A–7C illustrate a packing comparison among different geometries 700 in accordance with one embodiment.
[0015] FIG. 8 illustrates a suction gripping unit with secondary suction elements 800 in accordance with one embodiment.
[0016] FIGs. 9A–9C illustrate guiding support pin tip variations 900 in accordance with one embodiment.
[0017] FIGs. 10A–10B illustrate an eight-by-eight square suction gripping apparatus 1000 in accordance with one embodiment.
[0018] FIGs. 11A–11B illustrate a three-by-three multiplanar suction gripping apparatus 1100 in accordance with one embodiment.
[0019] FIG. 12 illustrates a top pick scenario with a conventional suction cup array 1200 in accordance with one embodiment.
[0020] FIG. 13 illustrates a side pick scenario with a conventional suction cup array 1300 in accordance with one embodiment.
[0021] FIG. 14 illustrates attachment forces during a side pick scenario 1400 in accordance with one embodiment.
[0022] FIG. 15 illustrates a suction end effector with a shear force element 1500 in accordance with one embodiment.
[0023] FIG. 16 illustrates a suction end effector with a shear force element 1600 in accordance with one embodiment.
[0024] FIG. 17 illustrates a suction end effector with a shear force element 1700 in accordance with one embodiment.
[0025] FIG. 18 illustrates a suction end effector with a shear force element 1800 in accordance with one embodiment.
[0026] FIG. 19 illustrates a suction end effector with a shear force element 1900 in accordance with one embodiment.
[0027] FIG. 20 illustrates a suction end effector with shear force elements 2000 in accordance with one embodiment.
[0028] FIG. 21 illustrates a suction end effector with a shear force element 2100 in accordance with one embodiment.Docket No. FSP2417PCT
[0029] FIG. 22 illustrates a suction end effector with shear force elements 2200 in accordance with one embodiment.
[0030] FIG. 23 illustrates a side pick scenario with double shear elements 2300 in accordance with one embodiment.
[0031] FIG. 24 illustrates a side pick scenario with double shear elements 2400 in accordance with one embodiment.
[0032] FIGs. 25A–25B illustrate a suction gripping apparatus 2500 in accordance with one embodiment.
[0033] FIGs. 26A–26B illustrate a suction gripping apparatus 2600 in accordance with one embodiment.
[0034] FIGs. 27A–27B illustrate a suction gripping apparatus 2700 in accordance with one embodiment.
[0035] FIG. 28 illustrates a suction gripping apparatus 2800 in accordance with one embodiment.
[0036] FIG. 29 illustrates a suction gripping unit with multiplanar guiding support pins 2900 in accordance with one embodiment.
[0037] FIG. 30 illustrates an estimated puncture force versus piercing depth 3000 in accordance with one embodiment.
[0038] FIG. 31 illustrates a conventional suction cup grippers 3100 in accordance with one embodiment.
[0039] FIG. 32 illustrates a conventional suction cup end effector 3200 in accordance with one embodiment.DETAILED DESCRIPTION
[0040] The disclosed solution is a suction gripping apparatus having improved handling capacity through the addition of features that exceed the handling capacity possible using a conventional suction-based gripper alone. In particular, these features improve the shear and / or tensile (holding) capacity of the disclosed suction gripping apparatus.
[0041] In one embodiment, these additional features are shear elements that increase the combined shear and / or tensile strength of the apparatus when used alongside suction force applied by a vacuum suction system. These shear elements may be implemented as needles,Docket No. FSP2417PCTallowing the suction force applied to be higher than the needle piercing force once the needles have punctured the material of a pickable object, such as a corrugated cardboard box. Once the needle has punctured the material, the shear force of the needle takes over as the dominant path of shear force over the suction elements themselves. Multi-bellow suction chambers compress during applied vacuum but do not restrict shear forces to a large degree. One or more needles or similar shear elements may be sized and configured such that the puncture holes they cause do not negatively impact the quality and structural integrity of the materials handled. Where such needles puncture corrugated packaging, they may be configured to do so only on the initial surface, terminating before the entire depth of the corrugated material is pierced. The disclosed suction gripping apparatus may be operated individually or as a member of an array in a gripping end effector system, which may include a gripping end effector coupled to a vacuum suction system.
[0042] FIGs. 1A-1I illustrate a suction gripping apparatus 100 comprising a suction gripping unit 102 in accordance with one embodiment. FIG. 1A shows a bottom perspective view, FIG. IB shows a top perspective view, FIG. 1C shows a bottom plan view, FIG. ID shows a top plan view, FIG. IE shows a side elevation view, FIG. IF shows a side cross-sectional view, FIG. 1G shows a side view with transparent outer elements, FIG. 1H shows a side view of the suction gripping unit 102 of the suction gripping apparatus 100 with transparent outer elements in an alternative configuration, and FIG. II shows an exploded view.
[0043] The suction gripping unit 102 of the suction gripping apparatus 100 may comprise a plurality of guiding support pins 200 described in greater detail with respect to FIGs. 2A-2C, as well as a contact surface reinforcement sliding plate 104 comprising at least one plate orifice 106 and configured to receive the guiding support pins 200. The guiding support pins 200 in conjunction with the contact surface reinforcement sliding plate 104 may act as novel shear elements that greatly enhance the capabilities of the suction gripping apparatus 100 when compared to conventional suction cup grippers such as those exemplified in FIG. 31. The guiding support pin 200 may be configured as needles or with other end configurations that facilitate piercing, holding, or increasing friction against the surface of an object to be picked. This is described further with respect to FIGs. 2A-2C and 9A-9C.
[0044] The suction gripping unit 102 may further comprise a suction chamber 108 configured to receive the guiding support pin 200 and the contact surface reinforcement sliding plate 104. The suction chamber 108 may include one or more side walls 110 that have a contacting edgeDocket No. FSP2417PCT112. The suction chamber 108 may also include a contact surface 114 at the contacting edge 112. The contact surface 114 may be configured to apply suction force to a pickable object. The suction chamber 108 may finally include an inner groove 116, integrated into the side walls 110 above the contact surface 114. The inner groove 116 may be configured to accept the contact surface reinforcement sliding plate 104. The plate orifices 106 are in fluid communication with the suction chamber 108.
[0045] The contact surface reinforcement sliding plate 104 residing within the inner groove 116 along the entire inner periphery of the side walls 110 of the suction chamber 108 may provide significantly beneficial structural stiffness to the side walls 110 and contacting edge 112, reinforcing and solidifying contact between the contact surface 114 and a pickable object. The guiding support pins 200 may impart improved stability and rigidity to the contact surface reinforcement sliding plate 104 without sacrificing the flexibility of the material comprising suction chamber 108, which is important to forming the suction forces under a vacuum. The strength and stability imparted by the support structure formed by the guiding support pins 200 and contact surface reinforcement sliding plate 104 also allow the geometry of the disclosed suction gripping unit 102 to be varied in numerous ways.
[0046] The suction chamber 108 and contact surface reinforcement sliding plate 104 may be designed having polygonal cross-sections not available in conventional suction cup grippers. In addition to the square cross-section shown for the suction gripping units 102 and conventionally available square, rectangular, circular, and elliptical suction grippers, the disclosed suction gripping unit 102 represents a technical improvement over conventional solutions in that it may be designed having regular polygonal cross-sections such as hexagonal, pentagonal, octagonal, etc. Custom, multi-sided configurations are also possible using the contact surface reinforcement sliding plate 104 and guiding support pin 200, as well as shapes having multiple points of convex and concave curvature. All of these configurations may be supported without degrading suction or shear force applications, and thus without compromising the performance of the suction gripping apparatus 100 either as a single suction gripping unit 102 or an array of suction gripping units 102.
[0047] The suction gripping unit 102 may include a suction port 118 in fluid communication with the suction chamber 108. The suction port 118 may be configured to interface with a vacuum suction system. The suction port 118 may include a flow restrictor 120 in one embodiment. In one embodiment, the suction port 118 may further act as an interface by whichDocket No. FSP2417PCTthe suction gripping unit 102 may be mounted to a gripping end effector, such as the gripping end effector 300 illustrated in FIGs. 3A-3C. In one embodiment, the guiding support pins 200 may provide an additional or alternative mounting interface. In one embodiment, the suction gripping unit 102 may be mounted to the gripping end effector through additional or alternative features specific to that function.
[0048] In one embodiment, the side walls 110 may include bellows folds 122 allowing them to contract, shortening the suction chamber 108, when suction force is applied against a surface of a pickable object. This may be seen in FIG. 1G and FIG. 1H in greater detail. In one embodiment, the suction force applied to the surface of the pickable object may induce the guiding support pins 200 to protrude past the contact surface 114 and pierce the surface of the pickable object material 126. For example, a common pickable object may be a corrugated cardboard box. The guiding support pins 200 may at the ends within the suction chamber 108 be configured as needles capable of piercing corrugated cardboard.
[0049] The piercing depths of the plurality of guiding support pins 128, i.e., the depth to which they pierce the pickable object material 126, may be configured as being the same for each guiding support pin, or one or more of the plurality of guiding support pins 200 may be mounted or dimensioned such that their pin tips fall along different planes, leading to variations among the piercing depths of the plurality of guiding support pins 128 of a suction gripping apparatus 100, within a single suction gripping unit 102 or across a plurality of suction gripping units 102. This is described in greater detail with respect to the suction gripping unit with multiplanar guiding support pins 2900 of FIG. 29.
[0050] In one embodiment, the guiding support pins 200 may penetrate through the contact surface reinforcement sliding plate 104 through guiding support pin bushings 124, as indicated in FIG. IF. These may be low-friction, plastic bushings that are part of the material of the contact surface reinforcement sliding plate 104, or may be formed separately and inserted and adhered within the contact surface reinforcement sliding plate 104. These guiding support pin bushings 124 may facilitate the movement of the contact surface reinforcement sliding plate 104 along the guiding support pins 200 along the z axis while maintaining a seal appropriate to support the development of adequate suction force at the contact surface 114 through application of a suction vacuum within the portion of the suction chamber 108 between the contact surface reinforcement sliding plate 104 and a pickable object.Docket No. FSP2417PCT
[0051] FIG. 2A illustrates a guiding support pin 200 in accordance with one embodiment. Such guiding support pins 200 may align and guide the contact surface reinforcement sliding plate that supports and strengthens the contact surface of the suction gripping unit. The guiding support pin 200 comprises a pin shaft 202, a shaft threading 204, a sliding plate z-stop 206, a pin tip 208, a taper 210, and a point 212.
[0052] The pin shaft 202 may include shaft threading 204, such as screw threads or a similar configuration, to facilitate mounting the guiding support pin 200 at a specified depth and / or angle within the suction chamber 108. In this manner, the location of the sliding plate z-stop 206 may be adjusted to limit the motion of the contact surface reinforcement sliding plate 104 along the z-axis, as shown in FIGs. 1G-1H to a desired extent. The shaft threading 204 may in one embodiment be used in mounting the suction gripping suction gripping unit 102 upon a gripping end effector.
[0053] In the embodiments illustrated in FIGs. 1A-1I, the guiding support pins 200 are seen to be identically configured as well as coplanar in the z-axis. However, the shaft threading 204 or other feature used to mount the guiding support pins 200 within the suction gripping unit 102 and / or the design of the guiding support pins 200 may be used to configure different guiding support pins 200 at different planes along the z-axis. For example, a suction gripping unit 102 may be configured with an outer ring of guiding support pins 200 in a circumferential pattern near the periphery of the suction chamber, these guiding support pins ending at a first distance from the contacting edge 112 when not under suction, and an inner ring ending at a second, larger distance from the contacting edge 112. This may facilitate the handling of objects having rounded surfaces, or other features less compatible with contact by coplanar guiding support pins 200.
[0054] The guiding support pin 200 may have a pin tip 208 that includes various features for improving the gripping capabilities it imparts. In one embodiment, as shown, the pin tip 208 may have a taper 210 ending in a sharp or rounded point 212, allowing the pin tip 208 to pierce the material making up a pickable object. Additional exemplary guiding support pin tip variations 900 are illustrated in FIGs. 9A-9C.
[0055] FIGs. 3A-3C illustrate a gripping end effector 300 in accordance with one embodiment. The gripping end effector 300 comprises a suction gripping apparatus 100 that includes an array 302 of suction gripping units 102, a robot arm attachment interface 304, a suction hose attachment port 306, and a robot arm with gripping end effector system 400.Docket No. FSP2417PCT
[0056] A suction gripping apparatus 100 is shown having an array 302 of twelve suction gripping units 102, identical in size and geometry, arranged in an evenly spaced three by four grid, but this configuration is not intended to be limiting. The design of the disclosed suction gripping apparatus 100 facilitates numerous variations upon this arrangement. Suction gripping apparatus 100 may be arranged with a different size or shape of grid array of suction gripping units 102, such as the eight-by-eight square suction gripping apparatus 1000 shown in FIGs. 10A-10B. Suction gripping units 102 may be arranged in full and partially populated grid arrays holding other numbers of suction gripping units 102. Different sizes of suction gripping units 102 may be combined to facilitate handling of specific pickable object types and shapes. Different array geometries, such as hexagonal and circular are possible. Different geometries of suction gripping units 102, such as circular, rectangular, and hexagonal, may be arranged in different array shapes. While the contact surfaces of the suction gripping units 102 of the suction gripping apparatus 100 illustrated in FIGs. 3A-3C are shown to be coplanar, the suction gripping apparatus 100 may vary the planes at which different suction gripping units 102 are mounted, as shown in the three-by-three multiplanar suction gripping apparatus 1100 of FIGs.11A-11B.
[0057] FIG. 4 illustrates a robot arm with gripping end effector system 400 in accordance with one embodiment. The robot arm with gripping end effector system 400 comprises a suction gripping apparatus 100 mounted on a gripping end effector 300 and a suction hose 402 connecting the gripping end effector 300 to a vacuum suction system 404. The robot arm with gripping end effector system 400 may be mounted on a conveyer system 406 in one embodiment. The robot arm with gripping end effector system 400 is shown using the gripping end effector 300 and its suction gripping apparatus 100 to hold a picked object 408, i.e., a cardboard box.
[0058] A gripping end effector 300 including a suction gripping apparatus 100 as shown may greatly improve upon conventional solutions in handling the shear loads encountered in manipulating picked objects 408. Manipulating a pickable object may include lifting 410 the pickable object (raising or lowering the object along the y-axis), moving 412 the pickable object (transporting the object along a plane in the y-axis, traversing across the x- and / or z-axes), and translating the pickable object in all axes simultaneously (i.e., moving 412 the pickable object in any direction while lifting 410 the pickable object). Loading during a simultaneous lifting 410 and moving 412 operation may be particularly difficult forDocket No. FSP2417PCTconventional solutions to adequately overcome. The disclosed suction gripping apparatus 100 exceeds the performance of conventional solutions during simultaneous lifting 410 and moving 412 operations in a test environment.
[0059] FIG. 5 illustrates a routine 500 for operating a suction gripping apparatus in accordance with one embodiment. The routine 500 may be performed using the suction gripping apparatus in various configurations, including those disclosed herein. Although the example routine 500 depicts a particular sequence of operations, the sequence may be altered without departing from the scope of the present disclosure. For example, some of the operations depicted may be performed in parallel or in a different sequence that does not materially affect the function of the routine 500. In other examples, different components of an example device or system that implements the routine 500 may perform functions at substantially the same time or in a specific sequence.
[0060] According to some examples, the method includes aligning a suction gripping apparatus with a surface of a pickable object at block 502. The suction gripping apparatus may comprise a single suction gripping unit or a plurality of suction gripping units. Each suction gripping unit may include a plurality of guiding support pins, a contact surface reinforcement sliding plate comprising at least one plate orifice and configured to receive the plurality of guiding support pins. The contact surface reinforcement sliding plate may provide reinforcement to the suction gripping unit during an action of suction. The suction gripping unit may include a suction chamber configured to receive the plurality of guiding support pins and the contact surface reinforcement sliding plate. The suction chamber may include at least one side wall including a contacting edge, a contact surface at the contacting edge, the contact surface configured to apply a suction force to the pickable object, and an inner groove, integrated into the at least one side wall above the contact surface, the inner groove configured to accept the contact surface reinforcement sliding plate. The at least one plate orifice may be in fluid communication with the suction chamber. The suction gripping unit may include a suction port in fluid communication with the suction chamber. The suction port may be configured to interface with a vacuum suction system. In one embodiment, the suction gripping apparatus includes suction gripping units of different sizes. In one embodiment, the suction gripping apparatus includes suction gripping units of varying shapes. These may include a round shape, an ellipsoid shape, a square shape, a rectangular shape, a quadrilateral shape, a triangular shape, a hexagonal shape, a pentagon shape, an octagon shape, an irregular shapeDocket No. FSP2417PCTdefined as a collection of splines, wherein the splines are arcs that connect as a closed piecewise-polynomial, parametric curve, and other shapes that will readily suggest themselves to one of ordinary skill in the art.
[0061] In one embodiment, the suction gripping apparatus includes suction gripping units mounted such that their contact surfaces lie along more than one plane. This may be seen with respect to the three-by-three multiplanar suction gripping apparatus 1100 shown in FIGs. 11 A-11B.
[0062] According to some examples, the method includes applying the suction gripping apparatus to the surface of the pickable object at block 504. According to some examples, the method includes applying a vacuum suction, using the vacuum suction system, to the surface of the pickable object at block 506.
[0063] According to some examples, the method includes applying suction force, using the contact surface, to the surface of the pickable object at block 508. The suction force may be applied to a top surface of the pickable object or a side surface. In one embodiment, additional suction force may be applied at an additional contact surface area. The contact surface reinforcement sliding plate may include more than one plate orifice, and a portion of the plate orifices may be configured with overmolded contact surfaces on the side of the contact surface reinforcement sliding plate nearest the contacting edge of the suction gripping unit.
[0064] According to some examples, the method includes adjusting a depth of the plurality of guiding support pins with respect to a plane of the contacting edge at block 510. Such depth adjustments may be made to prevent the guiding support pins from penetrating a surface of a pickable object in one embodiment. In one embodiment, this depth may be adjusted to ensure a certain depth of the plurality of guiding support pins penetrates into the surface to augment the gripping power imparted by suction force. This penetration may be accomplished when the suction force applied is greater than the force needed for the pin tips of the guiding support pins to puncture the material of the pickable object surface. According to some examples, the method includes partially penetrating or piercing the surface of the pickable object with at least a portion of the plurality of guiding support pins at block 512.
[0065] According to some examples, the method includes manipulating the pickable object while maintaining the suction force at block 514. Manipulating the pickable object includes at least one of lifting the pickable object, moving the pickable object, and moving the pickable object while lifting the pickable object. According to some examples, the method includesDocket No. FSP2417PCTreleasing the pickable object from the suction gripping apparatus, by reducing the suction force at block 516.
[0066] FIGs. 6A–6C illustrate a hexagonal suction gripping apparatus 600 in accordance with one embodiment. The hexagonal suction gripping apparatus 600 may include one or more hexagonal suction gripping units 602. The hexagonal suction gripping unit 602 may comprise a hexagonal contact surface reinforcement sliding plate 604 within a hexagonal suction chamber 606 and may be configured to receive six guiding support pins 200 centered at each edge as shown. Hexagonal suction gripping units 602 may be arranged in a hexagonal array 608 to form the hexagonal suction gripping apparatus 600 in one embodiment.
[0067] FIGs. 7A–7C illustrate a packing comparison among different geometries 700 in accordance with one embodiment. Generally speaking, as is well understood by those of ordinary skill in the art, the ability of a suction device to provide attachment force against an object surface when a vacuum is applied is proportional to the perimeter of the contact surface of the suction device against the object surface. Thus the ability to provide more contact surface length across the area of a suction end effector is beneficial to the ability of the end effector to grip a pickable object.
[0068] FIG. 7A shows an arrangement of circular elements 702 having a diameter (or height A) of 10 cm, thirty of which may be arranged in a grid pattern on a 66 cm by 55 cm footprint, as shown. Each circular element 702 may provide a contact surface perimeter equal to the circumference of the circle, which is given byP = π · h
[0069] where:• P = perimeter or circumference• h = height or diameter
[0070] Thus, the thirty circular elements 702 of 10 cm height provide 942 cm of contact surface perimeter across the 66 x 55 cm footprint.
[0071] FIG. 7B shows an arrangement of square element 704 each having a height h of 10 cm as well, and similarly placed on a 66 x 55 cm footprint in a grid pattern that includes thirty square elements 704. For a square geometry, the contact surface perimeter of each square element 704 may be calculated P = 4h, giving a total contact surface perimeter of 1,200 cmDocket No. FSP2417PCTacross the same area for which the circular elements 702 are able to provide 942 cm of contact surface perimeter. However conventional square geometries for suction cups do not provide the strength and sturdiness at the contacting edge that hoop forces impart to the round geometry of circular suction cups. The present disclosure thus represents a significant technical improvement in that such square suction gripping apparatus having square geometry may be constructed as disclosed without sacrificing stability at the contacting edge, allowing for this greatly improved contact surface perimeter length across an equivalent footprint as conventional round suction cups provide.
[0072] Further, the disclosed suction gripping apparatus may be manufactured having numerous geometries beyond the circular, square, or rectangle available for conventional suction cups. For example, suction gripping apparatus may be manufactured in a hexagonal shape as illustrated in FIGs. 6A-6C, or even a half-hexagonal shape, as will be readily understood by one of ordinary skill in the art. Hexagonal arrangements are well known to fit elements into an array more efficiently than grid arrangements. This is well evident in FIG. 7C, where it may be seen that in addition to the thirty hexagonal elements 706 that may be fit into a footprint of 60 x 60 cm (thus a similar footprint area to that provided by the 65 x 55 array of FIGs. 7A-7B), six half-hexagonal elements 708 may be deployed, providing a slightly higher contact surface perimeter length of 1,211 cm. One of ordinary skill in the art will readily apprehend that an arrangement of hexagonal elements 706 in a hexagonal array may be supplemented with partial hexagonal elements 706 that allow the array to fill out and conform to a 66 x 55 footprint. In this manner, more of the footprint area may be covered by suction gripping apparatus that optimize the perimeter provided across an equivalent footprint in various embodiments, which is not possible using conventional suction cups.
[0073] FIG. 8 illustrates a suction gripping unit with secondary suction elements 800 in accordance with one embodiment. The suction gripping unit with secondary suction elements 800 represents another way in which the contact surface perimeter of a suction gripping apparatus may be extended without each apparatus taking up more footprint area due to an overall increase in geometrical dimensions.
[0074] The suction gripping unit with secondary suction elements 800 may have secondary suction elements 802 molded or otherwise formed onto at least a portion of the plate orifices 106 of the contact surface reinforcement sliding plate 104, on the side of the contact surface reinforcement sliding plate 104 nearest the contacting edge 112 as shown. Each secondaryDocket No. FSP2417PCTsuction element 802 may surround a plate orifice and impart additional contact surface perimeter length along an overmolded contact surface 804 to augment that provided by the contact surface 114 of the suction chamber 108. Tn this manner, the suction gripping unit with secondary suction elements 800 may impart additional suction force upon the surface of a pickable object. While four circular secondary suction elements 802 are shown in a suction chamber 108 having square geometry, it will be readily understood by one of ordinary skill in the art that other geometries may be similarly augmented, with secondary suction elements 802 of alternative shapes, sizes, quantities, and arrangements.
[0075] FIGs. 9A–9C illustrate guiding support pin tip variations 900 in accordance with one embodiment. In addition to the tapered tip geometry illustrated in FIG. 2A, guiding support pins may be configured with other sorts of pin tips as well. FIG. 9A shows a pin tip 902 incorporating a knurled pad 904 that does not pierce the material of the pickable object, but rather relies on friction between the knurled pad 904 and the surface of the pickable object.
[0076] FIG. 9B shows a pin tip 906 having serrations 908 deployed either radially around its circumference or linearly along its length in a flattened configuration. The serrations 908 may improve the ability of the pin tip 906 to remain penetrated within the material of a pickable object once it punctures the surface.
[0077] FIG. 9C shows a pin tip 910 having a barb 912 or hooks similar to a fishhook. This similarly may improve the ability of the pin tip 910 to remain penetrated once it punctures the surface of a pickable object. One of ordinary skill in the art will readily recognize numerous other configurations that may improve penetrative contact or improve the ability of the pin tip to grip a surface without penetration.
[0078] FIGs. 10A–10B illustrate an eight-by-eight square suction gripping apparatus 1000 in accordance with one embodiment. FIG. 10A shows a bottom plan view and FIG. 10B shows a side elevation view. A grid arrangement of sixty-four suction gripping units 102 may be seen.
[0079] FIGs. 11 A-l IB illustrates a three-by-three multiplanar suction gripping apparatus 1100 in accordance with one embodiment. FIG. 11 A shows a bottom perspective view and FIG.1 IB shows a side elevation view. It may be seen how the suction gripping units 102 of the three-by-three multiplanar suction gripping apparatus 1100 fall along a plurality of planes of the contacting edge 1102.
[0080] FIG. 12 illustrates a top pick scenario with a conventional suction cup array 1200 in accordance with one embodiment. A conventional suction cup array 1202 may perform a topDocket No. FSP2417PCTpick upon a pickable object 1204. A top pick scenario involves picking the pickable object 1204 from the top at a predominantly horizontal face.
[0081] In a top pick all cups are loaded in a similar way and are put into “pure tension.” The maximal holding capacity of the gripper is the sum of all holding capacities of the suction cups on the gripper. Picking about the center of gravity and a perfect box may be assumed when modeling a top pick scenario with a conventional suction cup array 1200. If the holding capacity of the aggregated suction cups is insufficient, the conventional suction cup array 1202 may vertically drop 1206 the pickable object 1204.
[0082] FIG. 13 illustrates a side pick scenario with a conventional suction cup array 1300 in accordance with one embodiment. A conventional suction cup array 1202 may perform a side pick upon a pickable object 1204. A side pick scenario involves picking from the side at a predominantly vertical face.
[0083] In a side pick The box generates a moment that wants to ‘peel away’ the box from the gripper. In this case the top row of suction cups is an important component as it holds the longest “lever arm” and contributes the most to the overall strength. The bottom suction cups of the gripper are even in compression and don’t contribute at all, apart from providing an end stop for the box. If the holding capacity of the aggregated suction cups is insufficient, the conventional suction cup array 1202 may rotationally drop 1302 the pickable object 1204.
[0084] Any combination of vertical forces associated with a top pick scenario and horizontal forces and moments associated with a side pick scenario may be experienced at the gripper during robotic motion. In general, the side pick is the much more challenging condition for the gripper, with about 50% of the holding capacity as compared to the top pick, assuming the pickable object 1204 is picked on the same face. However, side picks are needed to pick boxes from containers, as sometimes the boxes are stacked up to the ceiling and there is no access to them from the top.
[0085] FIG. 14 illustrates an attachment forces during a side pick scenario 1400 in accordance with one embodiment. Generally speaking, when a conventional suction cup array 1202 is in suction contact with the surface of a pickable object 1204, two primary forces may be applied by the conventional suction cup array 1202 in order to counteract the vertical forces and the horizontal forces and moments, as previously described. Tensile force 1402 is applied by the conventional suction cup array 1202 normal to the surface of the pickable object 1204 of theDocket No. FSP2417PCTsuction cups (the z-axis in the illustrated example). Shear force 1404 is applied in the vertical plane (the y-axis), as shown.
[0086] FIG. 15 illustrates a suction end effector with a shear force element 1500 in accordance with one embodiment. A suction end effector 1502 may be equipped with a shear force element 1504 including at least one needle 1506. The shear force element 1504 may be affixed at the end of an arm 1508. A system including the suction end effector with a shear force element 1500 may detect 1510 a pickable object 1204 to be picked. The suction end effector with a shear force element 1500 may approach 1512 the pickable object 1204 and the suction end effector 1502 may engage its suction grippers with the surface of the pickable object 1204. The suction end effector with a shear force element 1500 may then engage its shear force element 1504 through rotation of the arm 1508, its needle 1506 penetrating a surface of the pickable object 1204 perpendicular to the surface engaged by the suction end effector 1502. This may secure 1514 the pickable object 1204, the shear force 1516 applied by the shear force element 1504 augmenting the tensile force provided by the suction cups.
[0087] FIG. 16 illustrates a suction end effector with a shear force element 1600 in accordance with one embodiment. The suction end effector with a shear force element 1600 may include the suction end effector 1602 and the shear force element 1604 fixed at the end of an arm 1608 as shown, the shear force element 1604 configured with a number of needles 1606. The suction end effector with a shear force element 1600 may detect 1610 the pickable object 1204, approach 1612 the pickable object 1204, and secure 1614 the pickable object 1204 through rotation of the arm 1608, similar to the steps described with respect to FIG. 15.
[0088] FIG. 17 illustrates a suction end effector with a shear force element 1700 in accordance with one embodiment. The suction end effector with a shear force element 1700 may include a suction end effector 1702 with a shear force element 1704 configured with at least one needle 1706 and running along a track 1708.
[0089] The suction end effector with a shear force element 1700 may detect 1710, approach 1712, and secure 1714 a pickable object 1204 as shown, the shear force element 1704 running along its track and penetrating the surface of the pickable object 1204 under active, directed horizontal force provided by its motion along the track.
[0090] FIG. 18 illustrates a suction end effector with a shear force element 1800 in accordance with one embodiment. The suction end effector with a shear force element 1800 includes a suction end effector 1802 employing an array of suction cups 1804 and a shear forceDocket No. FSP2417PCTelement 1806 running along a track 1808. In one embodiment, the shear force element 1806 may also be a suction cup 1804 as shown.
[0091] FIG. 19 illustrates a suction end effector with a shear force element 1900 in accordance with one embodiment. A suction end effector 1902 may be equipped with a shear force element 1904. The shear force element 1904 may be a roller equipped with multiple needles 1906, affixed at the end of an arm 1908. A system including the suction end effector with a shear force element 1900 may detect a pickable object 1204 to be picked. The suction end effector with a shear force element 1900 may approach the pickable object 1204 and the suction end effector 1902 may engage its suction grippers with the surface of the pickable object 1204. The suction end effector with a shear force element 1900 may then engage its shear force element 1904 through first rotation 1910 of the arm 1908, its needles 1906 penetrating a surface of the pickable object 1204 perpendicular to the surface engaged by the suction end effector 1902.
[0092] The suction end effector with a shear force element 1900 may in some cases perform a second rotation 1912 of the shear force element 1904. This may secure 1514 the pickable object 1204, the shear force 1914 applied by the shear force element 1904 augmenting the tensile force provided by the suction cups, and being increased or reduced by the second rotation 1912 as needed to improve attachment of the suction end effector with a shear force element 1900 to the pickable object 1204, or to release attachment when the pickable object 1204 is in position to be set down.
[0093] FIG. 20 illustrates a suction end effector with shear force elements 2000 in accordance with one embodiment. The suction end effector with shear force elements 2000 may comprise a gripping end effector 2002 having suction grippers 2004 and shear force elements 2006, the shear force elements 2006 able to engage a pickable object 1204 at two opposing parallel surfaces, as shown.
[0094] This embodiment uses needles from two sides of the box to securely hold the box. The advantage of this approach is that once the box is picked with the needles strongly, then the box may move in any orientation and still stay attached securely. Many of the embodiments above do need a particular orientation of box and gripper to work properly.
[0095] The needle holder may be a needle roller that is actuated. This way the box may be actively pulled towards the gripper through rotation 2008 of the shear force elements 2006, increasing the strength and reducing the sagging of the box once it is picked up completely.Docket No. FSP2417PCT
[0096] FIG. 21 illustrates a suction end effector with a shear force element 2100 in accordance with one embodiment. The suction end effector with a shear force element 2100 may include a gripping end effector 2102 configured with an array of suction grippers 2104 and a shear force element 2106 in the form of a tray that may improve picking stability by supporting a pickable object 1204 engaged by the suction grippers 2104, augmenting the shear force 2108 provided by at least one row of suction grippers 2104. In one embodiment, the tray may further comprise needles or other shear elements.
[0097] FIG. 22 illustrates a suction end effector with shear force elements 2200 in accordance with one embodiment. The suction end effector with shear force elements 2200 may comprise an array of suction grippers 2202 along with a shear force element 2204 positioned at one side of the array and another shear force element 2204 positioned at the opposite side of the array.
[0098] In one embodiment, the suction grippers 2202 and shear force elements 2204 may all be implemented as the suction gripping apparatus 100 disclosed in various embodiments herein. In this manner, the suction grippers 2202 and shear force elements 2204 may apply suction forces and, in some embodiments, shear forces through puncturing guiding support pins, in order to secure a pickable object that may be unpickable using conventional gripping end effectors.
[0099] FIG. 23 illustrates a side pick scenario with double shear elements 2300 in accordance with one embodiment. The suction end effector with shear force elements 2200 introduced above, or a similar device, may be used to pick pickable objects 1204 from stacks as shown. The suction end effector with shear force elements 2200 may engage 2302 a side of the pickable object 1204 with its suction grippers 2202, and may then pull 2304 the pickable object 1204 partially out from its stack, so that a portion of the top and bottom sides of the pickable object 1204 is accessible. The pickable object 1204 remains supported by other pickable objects 1204 beneath it in its stack.
[0100] The suction end effector with shear force elements 2200 may then engage 2306 its shear force elements 2204 at the top and bottom sides of the pickable object 1204. The shear force elements 2204 may move along a track or rail such that they may remain out of the ay and not interfere with other objects in the stack until the pickable object 1204 is partially pulled out, then moved forward to engage 2306. The suction end effector with shear force elements 2200 may finally apply suction to secure 2308 the pickable object 1204 by applying suction at the suction grippers 2202 and shear force elements 2204. The shear force elements 2204 mayDocket No. FSP2417PCTinclude needles that, through the action of the suction vacuum and compression of the bellows folds of the sidewalls, may puncture and secure the surfaces of the pickable object 1204.
[0101] FIG. 24 illustrates a side pick scenario with double shear elements 2400 in accordance with one embodiment. In this side pick scenario with double shear elements 2400, it may be seen that the narrow pickable objects 2402 are narrower in the vertical dimension, and so offer less surface area for contact with the grippers of a conventional gripping end effector.However, the suction end effector with shear force elements 2200 disclosed herein may provide the additional support needed to effectively pick such a narrow pickable object 2402.
[0102] The suction end effector with shear force elements 2200 introduced above, or a similar device, may be used to pick pickable objects 1204 from stacks as shown. The suction end effector with shear force elements 2200 may engage 2404 a side of the narrow pickable object 2402 with its suction grippers 2202, and may then pull 2406 the narrow pickable object 2402 partially out from its stack, so that a portion of the top and bottom sides of the narrow pickable object 2402 is accessible while remaining partially supported.
[0103] The suction end effector with shear force elements 2200 may then engage 2408 its shear force elements 2204 at the top and bottom sides of the narrow pickable object 2402. The suction end effector with shear force elements 2200 may finally apply suction to secure 2410 the pickable object 1204 by applying suction at the suction grippers 2202 and shear force elements 2204. The shear force elements 2204 may include needles that, through the action of the suction vacuum and compression of the bellows folds of the sidewalls, may puncture and secure the surfaces of the narrow pickable object 2402. In one embodiment, the array of suction grippers 2202 may be dynamically adjustable so that the spacing between suction grippers 2202 may be narrowed to accommodate even smaller picking surfaces.
[0104] Motions performed during the side pick scenario with double shear elements 2300 and side pick scenario with double shear elements 2400 may be used similarly, though in a different orientation of the suction end effector with shear force elements 2200, to perform a top pick. This will be readily understood by one of ordinary skill in the art.
[0105] FIGs. 25A–25B illustrate a suction gripping apparatus 2500 in accordance with one embodiment. The suction gripping apparatus 2500 comprises guiding support pins 2502, a contact surface reinforcement sliding plate 2504, side walls 2506, and a plunger 2508, and is configured to grip a pickable object surface 2510. Special suction cups that have the guiding support pins 2502 in the form of needles embedded in the area that is under vacuum. This hasDocket No. FSP2417PCTthe advantage that cardboard is sucked onto the needles and the force on the cardboard is directly applied where the needles are aligned axially. This approach may give the most reliable embedding of needles into cardboard. The compression of the cup under vacuum again is the mechanism to pull the needles into the cardboard.
[0106] The solution may have the following functions / features:• The needles may be rigidly connected to the attachment point of the suction cup. This guarantees a good force transfer between the needles and the gripper itself.• The needles may be straight or at an angle.• The needles may be directly connected to the gripper body and a spacer with holes for the needles is connected to the bellows of the cup. This way the needles are retracted and protected when the cup is not active. When the cup is activated and compresses, the needles are extended out and into the cardboard.• If the tolerance between needles and the spacer may be made right, it has the additional functionality of cleaning the needles off any cardboard residue.
[0107] FIGs. 26A–26B illustrate a suction gripping apparatus 2600 in accordance with one embodiment. The suction gripping apparatus 2600 comprises guiding support pins 2602, side walls 2604, and a plunger 2606, and is configured to grip a pickable object surface 2608.Special suction cups that have the guiding support pins 2602 in the form of needles embedded in the area that is under vacuum.
[0108] If the needles are at an angle relative to the cup plane the problem might be that the cup pushes a needle at an angle straight into the cardboard. For this reason, the cardboard may be damaged when embedding the needle, potentially compromising the holding capacity. In order to improve on this, asymmetric bellows for the side walls 2604 that compress at an angle similar to the angle of the needles may be used. Other solutions to this issue are described with respect to FIGs. 27A-27B.
[0109] FIGs. 27A–27B illustrate a suction gripping apparatus 2700 in accordance with one embodiment. The suction gripping apparatus 2700 comprises guiding support pins 2702, a contact surface reinforcement sliding plate 2704, side walls 2706, and a plunger 2708, and is configured to grip a pickable object surface 2710.
[0110] There is a plunger that moves in and out with the activation of the suction cup. The needles are at an angle to the plunger in a guide. As the plunger moves, activated by the suction motion of the cup, the needles are pushed outwards in an angle. This design is flexible andDocket No. FSP2417PCTallows for needles pushing in one direction or as shown in multiple directions. This may help to resist force in any direction as well provide additional holding strength.
[0111] A mechanism that rotates the needles in. Either slightly curved needles that match the curvature of the insertion rotation or straight needles that are oriented tangentially to the curvature of the motion.
[0112] Various mechanisms may use the mechanical collapsing displacement of the suction cup to create new methods of having micro mechanisms that interface (“Puncture”) the corrugated interface.
[0113] FIG. 28 illustrates a suction gripping apparatus 2800 in accordance with one embodiment. The suction gripping apparatus 2800 comprises guiding support pins 2802, a contact surface reinforcement sliding plate 2804, and a suction chamber 2806. The guiding support pins 2802 may have pin tips that configure them as needles.
[0114] The needles may be directly embedded in the cup itself. This example may be most similar a commercial cup, but with guiding support pins 2802 in the form of needles inserted. Such suction gripping apparatus 2800 may be deployed with the needles inserted at different angles, as shown by deployment angle 2808, deployment angle 2810, and deployment angle 2812.
[0115] FIG. 29 illustrates a suction gripping unit with multiplanar guiding support pins 2900 in accordance with one embodiment. The suction gripping unit with multiplanar guiding support pins 2900 may include a suction gripping unit 102 having a plurality of guiding support pins configured such that they terminate at a plurality of planes 2902 in the z-axis.
[0116] In one embodiment, the plurality of guiding support pins may include a first guiding support pin 2904 and a second guiding support pin 2906 having a first length 2908 and a second length 2910 along the z-axis, respectively. The first length 2908 and second length 2910 may of different dimensions, resulting in the points 212 of their pin tips 208 terminating at different planes among the plurality of planes 2902, as shown.
[0117] The plurality of guiding support pins may in one embodiment include a first guiding support pin 2904 and a third guiding support pins 2912, which may be positioned at a first mounting depth 2914 and a second mounting depth 2916 along the z-axis, respectively, within the suction gripping unit 102. In this manner, the points 212 of the pin tips 208 of the first guiding support pin 2904 and the third guiding support pin 2912 may terminate at different planes among the plurality of planes 2902, as shown.Docket No. FSP2417PCT
[0118] Generally speaking, it may be beneficial for the sliding plate z-stops 206 of all of the guiding support pins to reside along the same plane of in the z-axis, even when the points 212 of the pin tips 208 do not. For this reason, adjusting the second mounting depth 2916 relative to a first mounting depth 2914 as shown may not be advantageous, through all of the guiding support pins may use depth adjustment to configure the guiding support pins of a single suction gripping unit 102 at a different depth than those of another suction gripping unit 102. One of ordinary skill in the art will readily recognize how configuring different pins with different lengths and at different depths, however, may be used alone or in combination to customize the configuration of a suction gripping unit with multiplanar guiding support pins 2900 in many ways.
[0119] FIG. 30 illustrates an estimated puncture force versus piercing depth 3000 in accordance with one embodiment. It is important for the efficacy of solutions disclosed herein where the guiding support pins are intended to puncture the surface of a pickable object that the number of needles and the puncture force needed for them to pierce is less than the available suction force. When a sharp implement (like a needle) punctures a sheet, the governing principle may often be approximated by a punching shear model. In a punching shear scenario, the force required to create a hole is given by the shear strength times the shear area involved. The graph illustrated is represents puncture force from a piercing depth of 0 mm to a depth of 5 mm for a needle having a pin tip with a taper of 3 mm from shaft to point.
[0120] The shear area (Ashear) for a circular punch is approximately the perimeter or circumference C of the hole (or the diameter of the hole multiplied by 7t) times the thickness of the sheet:F = n • d • twhere:• d = needle diameter• t = sheet thickness
[0121] Once we have the shear area, the required force F to produce that shear may be approximated as:F = τ · AshearDocket No. FSP2417PCTwhere T is the shear force.
[0122] Substituting for AshearF = T ■ n ■ d ■ t
[0123] One contrived way to estimate ring stress (similar to hoop stress) around the circumference of the hole during puncture is:1. Assume the total puncture force F acts as a radial outward load distributed uniformly around the hole's perimeter (circumference C = nd, where d is the diameter of the hole).2. Model the paper near the hole as a thin ring of thickness t.3. Under uniform radial load, the average ring (circumferential) stress in that ring may be approximated by the ring-equilibrium formula:(radial line load) x mean radiusσringthickness
[0124] Since the radial line load = F / C = F / (nd) and mean radius ~ d 2
[0125] for the hole boundary, you get a factor that often cancels out d. A simplified version becomes:F°σring≈ F / 2πtfor a very thin ring.
[0126] This at least has the flavor of a "hoop" or 'circumferential' stress for a ring loaded in the radial direction by F. However, be aware that this is an idealized ring model and not a precise measure of the paper's real stress state (paper fibers, local tearing, shear fracture, etc ). You would still need the actual puncture force F and the thickness t.
[0127] If, for example, you have F ~ 4 Ibf (from a rough punching-shear estimate) and t = 0.125 inches, then4 Ibf 4σring≈ 4 lbf / 2π(0.125 in) ≈ 4 / 0.785 psi ≈ 5.1 psiσring≈ 4 lbf / 2π(0.125 in) ≈ 4 / 0.785 psiDocket No. FSP2417PCT
[0128] That is obviously a small number compared to typical shear or tensile strengths of paper. This just highlights that the simple ring model does not mirror the real shear-rupture mechanism.
[0129] FIG. 31 illustrates a conventional suction cup grippers 3100 in accordance with one embodiment. Conventional suction cup grippers 3100 include square suction cup grippers 3102, rectangular suction cup grippers 3104, and circular, elliptical, and other suction cup grippers 3106, as shown.
[0130] FIG. 32 illustrates a conventional suction cup end effector 3200 in accordance with one embodiment. The conventional suction cup end effector 3200 shown is equipped with an array 3202 of circular suction cup grippers 3204.
[0131] Within this disclosure, different entities (which may variously be referred to as "units," "circuits," other components, etc.) may be described or claimed as "configured" to perform one or more tasks or operations. This formulation — [entity] configured to [perform one or more tasks] — is used herein to refer to structure (i.e., something physical, such as an electronic circuit). More specifically, this formulation is used to indicate that this structure is arranged to perform the one or more tasks during operation. A structure may be said to be "configured to" perform some task even if the structure is not currently being operated. Thus, an entity described or recited as "configured to" perform some task refers to something physical. The term "configured to" is not intended to mean "configurable to." Reciting in the appended claims that a structure is "configured to" perform one or more tasks is expressly intended not to invoke 35 U. S. C. § 112(f) for that claim element. Accordingly, claims in this application that do not otherwise include the "means for" [performing a function] construct should not be interpreted under 35 U. S. C § 112(f).
[0132] As used herein, the term "based on" is used to describe one or more factors that affect a determination. This term does not foreclose the possibility that additional factors may affect the determination. That is, a determination may be solely based on specified factors or based on the specified factors as well as other, unspecified factors. Consider the phrase "determine A based on B." This phrase specifies that B is a factor that is used to determine A or that affects the determination of A. This phrase does not foreclose that the determination of A may also be based on some other factor, such as C. This phrase is also intended to cover an embodiment in which A is determined based solely on B. As used herein, the phrase "based on" is synonymous with the phrase "based at least in part on."Docket No. FSP2417PCT
[0133] As used herein, the phrase "in response to" describes one or more factors that trigger an effect. This phrase does not foreclose the possibility that additional factors may affect or otherwise trigger the effect. That is, an effect may be solely in response to those factors or may be in response to the specified factors as well as other, unspecified factors. Consider the phrase "perform A in response to B." This phrase specifies that B is a factor that triggers the performance of A. This phrase does not foreclose that performing A may also be in response to some other factor, such as C. This phrase is also intended to cover an embodiment in which A is performed solely in response to B.
[0134] As used herein, the terms "first," "second," etc. are used as labels for nouns that they precede and do not imply any type of ordering (e.g., spatial, temporal, logical, etc.), unless stated otherwise. For example, in a register file having eight registers, the terms "first register" and "second register" may be used to refer to any two of the eight registers, and not, for example, just logical registers 0 and 1.
[0135] When used in the claims, the term "or" is used as an inclusive or and not as an exclusive or. For example, the phrase "at least one of x, y, or z" means any one of x, y, and z, as well as any combination thereof.
[0136] As used herein, a recitation of “and / or” with respect to two or more elements should be interpreted to mean only one element or a combination of elements. For example, “element A, element B, and / or element C” may include only element A, only element B, only element C, element A and element B, element A and element C, element B and element C, or elements A, B, and C. In addition, “at least one of element A or element B” may include at least one of element A, at least one of element B, or at least one of element A and at least one of element B. Further, “at least one of element A and element B” may include at least one of element A, at least one of element B, or at least one of element A and at least one of element B.
[0137] The subject matter of the present disclosure is described with specificity herein to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventors have contemplated that the claimed subject matter might also be embodied in other ways, to include different steps or combinations of steps similar to the ones described in this document, in conjunction with other present or futuretechnologies. Moreover, although the terms “step” and / or “block” may be used herein to connote different elements of methods employed, the terms should not be interpreted asDocket No. FSP2417PCTimplying any particular order among or between various steps herein disclosed unless and except when the order of individual steps is explicitly described.
[0138] Having thus described illustrative embodiments in detail, it will be apparent that modifications and variations are possible without departing from the scope of this disclosure as claimed. The scope of disclosed subject matter is not limited to the depicted embodiments but is rather set forth in the following Claims.
Claims
Docket No. FSP2417PCTCLAIMSWhat is claimed is:
1. A suction gripping apparatus comprising:a suction gripping unit, comprising:a plurality of guiding support pins;a contact surface reinforcement sliding plate comprising at least one plate orifice, the contact surface reinforcement sliding plate configured to receive the plurality of guiding support pins and to provide reinforcement to the suction gripping unit during an action of suction;a suction chamber configured to receive the plurality of guiding support pins and the contact surface reinforcement sliding plate, the suction chamber comprising:at least one side wall including a contacting edge;a contact surface at the contacting edge, the contact surface configured to apply a suction force to a pickable object; andan inner groove, integrated into the at least one side wall above the contact surface, the inner groove configured to accept the contact surface reinforcement sliding plate,wherein the at least one plate orifice is in fluid communication with the suction chamber; anda suction port in fluid communication with the suction chamber, the suction port configured to interface with a vacuum suction system.
2. The suction gripping apparatus of claim 1, wherein the suction gripping apparatus comprises a plurality of suction gripping units.
3. The suction gripping apparatus of claim 2, wherein at least one contacting edge in the plurality of suction gripping units is in a different plane than the contacting edges of other suction gripping units in the plurality of suction gripping units.
4. The suction gripping apparatus of claim 2, wherein at least one suction gripping unit in the plurality of suction gripping units is a different size than other suction gripping units in the plurality of suction gripping units.Docket No. FSP2417PCT5. The suction gripping apparatus of claim 1, wherein at least one of the plurality of guiding support pins protrudes past the contacting edge when the suction force is applied to the pickable object.
6. The suction gripping apparatus of claim 5, wherein the at least one of the plurality of guiding support pins protruding past the contacting edge penetrates a surface of the pickable object.
7. The suction gripping apparatus of claim 1, wherein a depth of the plurality of guiding support pins, with respect to a plane of the contacting edge, is adjustable.
8. The suction gripping apparatus of claim 1, the contact surface reinforcement sliding plate comprising more than one plate orifice, wherein a side of at least a portion of the more than one plate orifices, nearest the contacting edge, is surrounded by an overmolded contact surface configured to provide an additional contact surface and apply an additional suction force to the pickable object.
9. The suction gripping apparatus of claim 1, wherein the suction chamber is at least one of: a round shape;an ellipsoid shape;a square shape;a rectangular shape;a quadrilateral shape;a triangular shape;a hexagonal shape;a pentagon shape;an octagon shape; andan irregular shape including a collection of splines, wherein the splines are arcs that connect as a closed piecewise-polynomial, parametric curve.
10. The suction gripping apparatus of claim 1, wherein the guiding support pins comprise at least one of:screw threads;hooks; andtapered tip geometry.Docket No. FSP2417PCT11. The suction gripping apparatus of claim 1, wherein the guiding support pins are arranged in at least one of:a ring; anda circumferential pattern near the periphery of the suction gripping apparatus.
12. A method comprising:aligning a suction gripping apparatus with a surface of a pickable object;wherein the suction gripping apparatus comprises:a suction gripping unit, comprising:a plurality of guiding support pins;a contact surface reinforcement sliding plate comprising at least one plate orifice, the contact surface reinforcement sliding plate configured to receive the plurality of guiding support pins and to provide reinforcement to the suction gripping unit during an action of suction;a suction chamber configured to receive the plurality of guiding support pins and the contact surface reinforcement sliding plate, the suction chamber comprising:at least one side wall including a contacting edge;a contact surface at the contacting edge, the contact surface configured to apply a suction force to the pickable object; andan inner groove, integrated into the at least one side wall above the contact surface, the inner groove configured to accept the contact surface reinforcement sliding plate,wherein the at least one plate orifice is in fluid communication with the suction chamber; anda suction port in fluid communication with the suction chamber, the suction port configured to interface with a vacuum suction system; applying the suction gripping apparatus to the surface of the pickable object; applying a vacuum suction, using the vacuum suction system, to the surface of the pickable object;applying suction force, using the contact surface, to the surface of the pickable object; manipulating the pickable object while maintaining the suction force; andDocket No. FSP2417PCTreleasing the pickable object from the suction gripping apparatus, by reducing the suction force.
13. The method of claim 12, further comprising:partially penetrating or piercing the surface of the pickable object with at least a portion of the plurality of guiding support pins.
14. The method of claim 12, wherein the suction force is applied to a top surface of the pickable object and manipulating the pickable object includes at least one of:lifting the pickable object;moving the pickable object; andmoving the pickable object while lifting the pickable object.
15. The method of claim 12, wherein the suction force is applied to a side surface of the pickable object and manipulating the pickable object includes at least one of:lifting the pickable object;moving the pickable object; andmoving the pickable object while lifting the pickable object.
16. The method of claim 15, further comprising:partially penetrating or piercing the side surface of the pickable object with at least a portion of the plurality of guiding support pins.
17. The method of claim 12, further comprising adjusting a depth of the plurality of guiding support pins with respect to a plane of the contacting edge.
18. The method of claim 12, the suction gripping apparatus including a plurality of suction gripping units, wherein at least one contacting edge in the plurality of suction gripping units is in a different plane than the contacting edges of other suction gripping units in the plurality of suction gripping units.
19. The method of claim 12, the suction gripping apparatus including a plurality of suction gripping units, wherein at least one suction gripping unit of the plurality of suction gripping units is a different size than other suction gripping units in the plurality of suction gripping units.Docket No. FSP2417PCT20. The method of claim 12, further comprising applying an additional suction force to an additional contact surface of the pickable object, wherein the contact surface reinforcement sliding plate comprises more than one plate orifice, wherein a side of at least a portion of the more than one plate orifices, nearest the contacting edge, is surrounded by an overmolded contact surface configured to provide the additional contact surface and apply the additional suction force to the pickable object.