Membrane module for a gripping device, gripping device, and method of gripping an object

Abstract

A gripping device adapted to provide gripping and suction force for picking up and moving a wide variety of objects is disclosed. The gripping device is composed of a chamber, a shaft, a membrane module, a chamber actuation mechanism, a shaft actuation mechanism, a chamber pressure mechanism, and a shaft pressure mechanism. The membrane module comprises at least a deformable membrane, an inner header element, an inner socket element, an outer header element, and an outer socket element. The membrane module further comprises an inner suction cup, an outer suction cup, or a stopper element. The inner header element can be easily attached to or detached from the inner socket element using a variety of inner attachment interfaces. The outer header element can be easily attached or detached from the outer socket element using a variety of outer attachment interfaces.

Description

Nexera Corp.Membrane module for a gripping device, gripping device, andmethod of gripping an objectBackground

[0001] The embodiments described herein relate generally to a membrane module for a gripping device and a gripping device with the means for easy attachment and detachment, and a method of gripping an object.

[0002] The rise of automation across industries such as manufacturing, agriculture, e-commerce, and logistics brings about the ever-increasing need of robotic manipulators as well as grippers that will fit onto them. More specifically, the need to grip different kinds of objects with a single gripper arises in many fields. Existing solutions mainly involve the use of finger-type grippers or vacuum cups.

[0003] For finger type gripping devices, the gripping force, the direction of approach, and the gripping point on the object need to be well defined to ensure successful gripping while not damaging the object. Furthermore, finger type gripping devices have difficulties gripping objects from a surface of the object that is larger than the maximum opening of the fingers. Also, if a batch of cuboid-shaped boxed are tightly packed, so that all side faces of a box are in full contact with the adjacent boxes, finger type gripping devices cannot get hold of the box from the top because there is no space for the fingers to reach in and get hold of the side faces of the box.

[0004] Vacuum cups can grip objects larger than the cup size or pick one box from a batch of tightly packed boxes, and do not have as high demand on gripping force control.

[0005] However, since vacuum cups have difficulties gripping objects with shapes such that a seal between the object and the vacuum cup cannot be well established, the types of objects they can grip are limited, and the direction of approach and the gripping point on the object still need to be well defined.

[0006] Combining fingers and vacuum cups into a single gripping device, such as that in US 7,409,812, can mitigate some of their respective limitations, but the issues regarding theNexera Corp.direction of approach and the gripping point remain. Additionally, they very often still fail to grasp a large variety of objects including large surfaces which are not flat.

[0007] While several grippers exist, such as finger-type grippers and vacuum cup grippers, none are particularly effective and adapted to work for various types of objects. As such, there is a continued need for a device that can utilize gripping and suction forces to pick up and move a wide variety of objects. Furthermore, there is a continued need for a device that provides continuous attractive forces while an object is being grasped and displaced. The present invention satisfies these needs.

[0008] WO 2024 / 239095 A1 discloses a gripping apparatus comprising a primary grasping device with a suction assembly and a deformable membrane, and at least one secondary suction interface surrounding the primary grasping device. The membrane compartment is displaceable towards the object to be grasped, and the pressure mechanism is configured to depressurize the suction compartment and / or the membrane compartment to generate a gripping force.

[0009] US 2022 / 0379494 A1 discloses an adaptable suction device for grasping objects. The device comprises a deformable membrane configured to conform to the surface of an object, a suction compartment in fluid connection with a pressure mechanism for generating negative pressure, and an actuation mechanism for displacing the suction assembly relative to a framing structure.

[0010] CN 114829087 A discloses a vacuum gripping element releasably connectable to a carrier device via a locking coupling. The vacuum supply channel extends through the locking coupling when the gripping element is connected to the carrier device. The gripping element further comprises an elastic sealing element and is divisible into two body parts, each releasably connectable to the other by a respective locking coupling.Summary

[0011] According to the disclosure, a membrane module for a gripping device is provided. The membrane module comprises a deformable membrane in the form of an open surface having an outer edge and at least one hole defining an inner edge, an outer header element attached to the outer edge, an outer socket element attachable to and detachable from the outer header element by an outer attachment interface, an inner header element attached to the inner edge, and an inner socket element attachable to and detachable fromNexera Corp.the inner header element by an inner attachment interface. What is referred to as "attachment interface" in this text can generally also be referred to as "attachment mechanism." The membrane module further comprises fluid passages forming hermetic connections between the header elements and the socket elements when attached. The deformability of the deformable membrane allows the outer socket element to move relative to the inner socket element under the effect of relative movement between components of the gripping device. The membrane module is configured fortool-free attachment and detachment from the gripping device.

[0012] A gripping device adapted to provide gripping and suction force for picking up and moving a wide variety of objects is disclosed. The gripping device is composed of a chamber, a shaft, a membrane module, a chamber actuation mechanism, a shaft actuation mechanism, a chamber pressure mechanism, and a shaft pressure mechanism. The membrane module comprises at least a deformable membrane, an inner header element, an inner socket element, an outer header element, and an outer socket element. The membrane module further comprises an inner suction cup, an outer suction cup, or a stopper element. The inner header element can be easily attached to or detached from the inner socket element using a variety of inner attachment interfaces. The outer header element can be easily attached or detached from the outer socket element using a variety of outer attachment interfaces. The chamber space may be filled with a gas (e.g. air, nitrogen, or an inert gas), a liquid (e.g. water, hydraulic fluid, or silicone oil), or a combination of a gas and a liquid (e.g. a liquid partially filling the chamber space. The chamber pressure mechanism is configured to selectively pressurize or depressurize the chamber space -regardless of the working medium - in order to deform the deformable membrane towards an object surface.

[0013] The method includes grasping an object by the gripping device using the deformable membrane only, using the inner suction cup only, using both the deformable membrane and the inner suction cup, and using the outer suction cup only. The method includes grasping an object by the gripping device using the deformable membrane only, using the inner suction cup only, using both the deformable membrane and the inner suction cup, and using the outer suction cup only. The method may further comprise moving the gripping device (900) towards the object and gripping the object by at least one of deforming the deformable membrane (100) to conform to a shape of the object, and depressurizing the at least one inner header fluid passage (510) to create a suction force against the object. The gripping steps may be performed simultaneously or sequentially.Nexera Corp.Brief Description of the Drawings

[0014] FIG. 1 is a diagram illustrating a basic configuration of the membrane module (10) or an exemplary embodiment.

[0015] FIG. 2 is a diagram illustrating the basic configuration of the membrane module (10), showing the inner and outer components can move relatively.

[0016] FIG. 3A is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner header element (500), the stopper element (810) attached to the inner header element (500), and the outer suction cup (850) attached to the outer header element (200).

[0017] FIG. 3B is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner header element (500), the stopper element (810) attached to the inner header element (500), and the outer suction cup (850) attached to the chamber (910).

[0018] FIG. 4 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner header element (500), the stopper element (810) attached to the inner suction cup (800), and the outer suction cup (850) attached to the outer header element (200).

[0019] FIG. 5 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner socket element (600), the stopper element (810) attached to the inner suction cup (800), and the outer suction cup (850) attached to the outer header element (200).

[0020] FIG. 6 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner socket element (600), the stopper element (810) attached to the inner socket element (600), and the outer suction cup attached to outer socket element (300).

[0021] FIG. 7A is a diagram illustrating the inner header element (500) with header side inner attachment interface (740) in the form of a radial ball lock mechanism (1000).Deformable membrane (100) not shown.Nexera Corp.

[0022] FIG. 7B is a cross-section diagram illustrating the Inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000).Deformable membrane (100) not shown.

[0023] FIG. 8A is a cross-section diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0024] FIG. 8B is a diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Enclosure (1050) hidden.

[0025] FIG. 8C is a cross-section diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Showing only the inner and outer sleeves and springs.

[0026] FIG. 8D is a cross-section diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Showing only the inner and outer sleeves and springs.

[0027] FIG 9A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0028] FIG. 9B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0029] FIG. 10A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0030] FIG. 10B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0031] FIG. 10C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).Nexera Corp.

[0032] FIG. 11 A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0033] FIG. 11 B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0034] FIG. 11 C is a diagram illustrating Stage 3 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0035] FIG. 11 D is a diagram illustrating Stage 4 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0036] FIG. 12A is a diagram illustrating the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000). Deformable membrane (100) not shown.

[0037] FIG 12B is a cross-section diagram illustrating the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000). Deformable membrane (100) not shown.

[0038] FIG. 13A is a diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a latching mechanism (2000).

[0039] FIG. 13B is a cross-section diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a latching mechanism (2000).

[0040] FIG. 14A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000).

[0041] FIG. 14B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000).Nexera Corp.

[0042] FIG. 15A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0043] FIG 15B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0044] FIG. 15C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0045] FIG. 15D is a diagram illustrating Stage 4 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0046] FIG. 16A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0047] FIG. 16B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0048] FIG. 17A is a diagram illustrating the Inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). Deformable membrane (100) not shown.

[0049] FIG. 17B is a cross-section diagram illustrating the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). Deformable membrane (100) not shown. Cross section.

[0050] FIG. 18A is a diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0051] FIG. 18B is a cross-section diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).Nexera Corp.

[0052] FIG. 19A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0053] FIG. 19B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0054] FIG. 20A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0055] FIG. 20B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0056] FIG. 20C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0057] FIG. 20D (FIG. 20D1 , FIG. 20D2) is a diagram illustrating Stage 4 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0058] FIG. 21 A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0059] FIG.21 B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0060] FIG. 21 C is a diagram illustrating Stage 3 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).Nexera Corp.

[0061] FIG. 22 (FIG. 22.1 , FIG. 22.2) is a diagram illustrating the socket tool (1203) for detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0062] FIG. 23A is a diagram illustrating an exploded view of the inner suction cup assembly (820).

[0063] FIG. 23B is a diagram illustrating an assembled view of the inner suction cup assembly (820).

[0064] FIG. 23C is a diagram illustrating the inner suction cup assembly (820) with inner cup support ring (805).

[0065] FIG. 24 is a diagram illustrating the stopper element (810).

[0066] FIG. 25A is a diagram illustrating the bottom-side view of an outer socket element (300).

[0067] FIG. 25B is a diagram illustrating the top-side view of an outer socket element (300).

[0068] FIG. 25C is a diagram illustrating the bottom-side view of an outer socket element (300).

[0069] FIG. 26A is a diagram illustrating the top-side view of an outer header element (200) with deformable membrane (100) and outer suction cup (850) attached.

[0070] FIG. 26B is a diagram illustrating the bottom view of an outer header element (200) with deformable membrane (100) and outer suction cup (850) attached.

[0071] FIG. 26C is a diagram illustrating the top-side view of an outer header element (200) with deformable membrane (100) and outer suction cup (850) attached.

[0072] FIG. 27 is a diagram illustrating the top-side view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached.

[0073] FIG. 28A is a diagram illustrating the section view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached.Nexera Corp.

[0074] FIG. 28B is a diagram illustrating the section view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached.

[0075] FIG. 29A is a diagram illustrating an exploded view of the embodiment the outer suction cup attachment assembly (860).

[0076] FIG. 29B is a diagram illustrating a partially assembled view of the embodiment the outer suction cup attachment assembly (860).

[0077] FIG. 29C is a diagram illustrating an assembled view of the embodiment the outer suction cup attachment assembly (860).

[0078] FIG. 30A is a diagram illustrating a process of attaching the outer suction cup (850) and the deformable membrane (100) to the outer header element (200).

[0079] FIG. 30B is a diagram illustrating the process of attaching the outer suction cup (850) and the deformable membrane (100) to the outer header element (200).

[0080] FIG. 31 A (FIG. 31 C1 , FIG. 31 C2) is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0081] FIG. 31 B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0082] FIG. 31 C is a diagram illustrating exploded views of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0083] FIG. 32A is a diagram illustrating Stage 1 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0084] FIG. 32B is a diagram illustrating Stage 2 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).Nexera Corp.

[0085] FIG. 32C is a diagram illustrating Stage 3 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0086] FIG. 33 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). Deformable membrane (100) and outer suction cup (850) attached.

[0087] FIG. 34A is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0088] FIG. 34B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0089] FIG. 34C is a diagram illustrating unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0090] FIG. 35 (FIG. 35.1 , FIG. 35.2) is a diagram illustrating exploded views of an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0091] FIG. 36A is a diagram illustrating Stage 1 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0092] FIG. 36B is a diagram illustrating Stage 2 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0093] FIG. 36C is a diagram illustrating Stage 3 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).Nexera Corp.

[0094] FIG. 37 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). Deformable membrane (100) and outer suction cup (850) attached.

[0095] FIG. 38A is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0096] FIG. 38B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0097] FIG. 39A is a diagram illustrating an unlocked state of unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0098] FIG. 39B is a diagram illustrating a locked state of unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0099] FIG. 39C is a diagram illustrating a transition step of the unlocking process wherein the unlocking cam is in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0100] FIG. 39D is a diagram illustrating the end of the unlocking process wherein Unlocking cam is in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0101] FIG. 40 (FIG. 40.1 , FIG. 40.2) is a diagram illustrating an exploded view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0102] FIG. 41 A is a diagram illustrating the before stage of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0103] FIG. 41 B is a diagram illustrating the after stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).Nexera Corp.

[0104] FIG. 42A is a diagram illustrating Stage 1 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0105] FIG. 42B is a diagram illustrating Stage 2 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0106] FIG. 42C is a diagram illustrating Stage 3 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0107] FIG. 43 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). Deformable membrane (100) and outer suction cup (850) attached.

[0108] FIG. 44 is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0109] FIG. 45 (FIG. 45.1 , FIG. 45.2) is a diagram illustrating an exploded view of an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0110] FIG. 46A is a diagram illustrating the before stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0111] FIG. 46B is a diagram illustrating the after stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0112] FIG. 47A is a diagram illustrating Stage 1 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0113] FIG. 47B is a diagram illustrating Stage 2 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).Nexera Corp.

[0114] FIG. 47C is a diagram illustrating Stage 3 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0115] FIG. 47D is a diagram illustrating Stage 4 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0116] FIG. 48A is a diagram illustrating Stage 1 of the process of detaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0117] FIG. 48B is a diagram illustrating Stage 2 of the process of detaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0118] FIG. 49A is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000).

[0119] FIG. 49B is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000).

[0120] FIG. 50 (FIG. 50.1 , FIG. 50.2) is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).

[0121] FIG. 51 is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).

[0122] FIG. 52 is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).Nexera Corp.

[0123] FIG. 53 is a diagram illustrating an exemplary embodiment of a robotic picking setup using the exemplary gripping device.

[0124] FIG. 54 is a diagram illustrating an embodiment of the membrane module (10) comprising an outer header element (9300), a deformable membrane (9310), and an inner header element (9400), wherein the inner attachment interface (700) is in the form of a collet mechanism configured to be attached to a shaft (9500) of the gripping device (900) by engaging with a groove (9501 ) on an external surface of the shaft (9500).

[0125] FIG. 55 (FIG. 55.1 , FIG. 55.2, FIG. 55.3) is a diagram illustrating an embodiment of the outer header element (9300) comprising a base part (9301 ) and a clamping part (9302), and showing the attachment of the deformable membrane (9310) to the outer header element (9300) by means of a thickened section (9311 ) on the outer edge (101 ) of the deformable membrane (9310) being clamped between the base part (9301 ) and the clamping part (9302).

[0126] FIG. 56 is a diagram illustrating an embodiment of the inner header element (9400) with the inner attachment interface (700) in the form of a collet mechanism, shown in external view and cross-section view, comprising a core (9410), one or more clamping pieces (9420), one or more preloading components (9430), a locking sleeve (9440), a bottom cap (9450), a suction cup (9460), and optionally an inner cup support ring (9470).

[0127] FIG. 57 (FIG. 57.1 , FIG. 57.2) is a diagram illustrating the inner header element (9400) of FIG. 56 with the locking sleeve (9440) removed and shown separately, to illustrate the arrangement of the clamping pieces (9420) relative to the core (9410).

[0128] FIG. 58 (FIG. 58.1 , FIG. 58.2) is a diagram illustrating the locking process of the inner header element (9400) of FIG. 56, showing the transition between the unlocked state and the locked state.

[0129] FIG. 59 is a diagram illustrating the inner header element (9400) of FIG. 56 in the unlocked state in cross-section view, wherein the clamping pieces (9420) are pivoted away from the core (9410) and the internal locking faces (9422) do not engage with the groove (9501 ) on the shaft (9500).

[0130] FIG. 60 is a diagram illustrating the inner header element (9400) of FIG. 56 in the locked state in cross-section view, wherein the clamping pieces (9420) are pivoted towardsNexera Corp.the core (9410) by the locking sleeve (9440) and the internal locking faces (9422) engage with the groove (9501 ) on the shaft (9500).Detailed Description

[0131] According to the disclosure, FIG. 53 is a diagram illustrating an exemplary embodiment of a robotic picking setup using an exemplary gripping device. According to FIG. 53, a typical robotic work cell using the gripping device (900) is shown. Specifically, the gripping device (900) is mounted to a robotic manipulator (9800). At least one detection device (9900), which for example can be a camera, a lidar, or an ultrasound sensor, is configured to detect the object to be grasped. The information gathered by said detection device (9900) is transmitted to a controller (9850). And the controller (9850) generates a picking strategy and controls the robotic manipulator (9800) to move and the gripper device to grasp the object (950).Preferred Embodiment

[0132] FIG. 1 is a diagram illustrating the general structure and basic configuration of the membrane module (10) of the preferred embodiment.

[0133] According to the disclosure, in the preferred embodiment as shown in FIG. 1 , the membrane module (10) comprises:- A deformable membrane (100) in the form of an open surface with an outer edge (101 ) and with at least one hole which defines an inner edge (102).- An outer header element (200), to which the outer edge (101 ) of the deformable membrane (100) is attached.- An outer socket element (300).

[0134] According to FIG. 1 , the outer socket element (300) is attached to one or more components (910) of a gripping device (900). What is referred to as "gripping device" in this text can generally also be referred to as "grasping device". The outer header element (200) can be attached to or detached from the outer socket element (300) by an outer attachment interface (400).

[0135] According to FIG. 1 , At least one outer header fluid passage (210) is provided on the outer header element (200) and at least one outer socket fluid passage (310) is provided on the outer socket element (300). When the outer header element (200) is attached to theNexera Corp.outer socket element (300), each of the at least one outer header fluid passage (210) forms a hermetic connection with one of the outer fluid socket passage (310), such that a fluid, which may or may not be pressurized, may or may not be depressurized, can pass through the outer header fluid passage (210) to the connected outer socket fluid passage (310) or vice versa without leakage.

[0136] According to FIG. 1 , an inner header element (500) and inner socket element (600) is provided, to which the inner edge (102) of the deformable membrane (100) is attached. The inner socket element (600) is attached to one or more components (920) of the gripping device (900). The inner header element (500) can be attached to or detached from the inner socket element (600) by an inner attachment interface (700).

[0137] According to FIG. 1 , At least one inner header fluid passage (510) is provided on the inner header element (500). Furthermore, at least one inner socket fluid passage (610) is provided on the inner socket element (600).

[0138] According to FIG. 1 , when the inner header element (500) is attached to the inner socket element (600), each of the inner header fluid passage (510) forms a hermetic connection with one of the inner socket fluid passage (610), such that a fluid, which may or may not be pressurized, may or may not be depressurized, can pass through the inner socket fluid passage (610) to the connected inner header fluid passage (510) or vice versa without leakage. Furthermore, the inner attachment interface (700) comprises a socket side inner attachment interface (710) and a header side inner attachment interface (740). Once the socket side inner attachment interface (710) and the header side inner attachment interface (740) are put together they, hence the inner header element (500) and inner socket element (600), are locked in place with a locking structure. Based on different implementations of such locking structure, the inner attachment interface (700) is selected from a list consisting of a radial ball lock mechanism (1000) as in FIG. 7A to FIG. 11 D, a latching mechanism (2000) as in FIG. 12Ato FIG. 16B, or a preloaded bayonet lock mechanism (3000) as in FIG. 17A to FIG. 22. The application of at least a force or a torque to at least a component on the membrane module (10) enables rapid unlocking the inner socket element (600) and the inner header element (500), thus enabling rapid detachment of said inner header element (500) from said inner socket element (600), thus detaching the deformable membrane (100) from the shaft (920).Nexera Corp.

[0139] According to FIG. 1 , the outer attachment interface (400) comprises a socket side outer attachment interface (410) and a header side outer attachment interface (440). Once the socket side outer attachment interface (410) and the header side outer attachment interface (440) are put together they, hence the outer header element (200) and outer socket element (300), are locked in place with a locking structure. Based on different implementations of such locking structure, the outer attachment interface (400) is selected from a list consisting of a radial ball lock with lifting sleeve mechanism (5000) as in FIG. 27 to FIG. 32C, a tangential ball lock with rotating sleeve mechanism (6000) as in FIG. 33 to FIG.36C, a radial ball lock with rotating sleeve mechanism (7000) as in FIG. 37 to FIG. 42C, or a bayonet lock with rotating sleeve mechanism (8000) as in FIG. 43 to FIG. 48B. The application of at least a force or a torque to at least a component on the membrane module (10) enables rapid unlocking the outer socket element (300) and the outer header element (200), thus enabling rapid detachment of said inner header element (200) from said outer socket element (300), thus detaching the deformable membrane (100) from the chamber (910).

[0140] In another embodiment, at least one of the following components comprise at least an inner connecting element for connecting the inner socket element (600) and the inner header element (500) together: the inner socket element (600) with the socket side inner attachment interface (710); the inner header element (500) with the header side inner attachment interface (740); and wherein the inner connecting element has a passive or active locking design, based on a mechanical, electrical, or magnetic connection or a combination of the above.

[0141] In embodiments in which the inner connecting element is based on a mechanical connection, the inner connecting element may comprise a snap-fit element, a latching element, a clip, a detent, or a friction fit, in a passive locking design (locking by geometry) or an active locking design (dedicated locking element, e.g. spring- or cam-actuated). In embodiments in which the inner connecting element is based on an electrical connection, the inner connecting element may comprise electrically conductive contact elements on the inner socket element (600) and corresponding contact elements on the inner header element (500), wherein engagement of said contact elements establishes mechanical retention and an electrical signal path. In an active locking design, an electrically actuated element, such as a solenoid pin or an electrostatic clamp, may selectively lock or unlock the connection. In embodiments in which the inner connecting element is based on a magnetic connection, the inner connecting element may comprise permanent magnets,Nexera Corp.electromagnets, or magnetizable elements on the inner socket element (600) and the inner header element (500) providing a magnetic retention force. In an active locking design, at least one electromagnet is provided, wherein the retention force is selectively enabled or disabled by controlling the electrical current supplied to the electromagnet. A combination of the above connection types is equally contemplated. The same connection types and locking designs apply, mutatis mutandis, to an outer connecting element connecting the outer socket element (300) and the outer header element (200).Deformable Membrane Allows Relative Movement Between Clip and Center Plug

[0142] FIG. 2 is a diagram illustrating the basic configuration of the membrane module (10), showing the inner and outer components can move relatively. According to FIG. 2, the deformable membrane allows relative movement between the outer header element (200) and inner header element (500), or relative movement between the outer socket element (300) and the inner socket element (600).

[0143] According to FIG. 2, the deformability of the deformable membrane (100) allows the outer socket element (300), hence the outer header element (200) with the attached outer edge (101 ) of the deformable membrane (100), to move relative to the inner socket element (600), hence the inner header element (500) with the attached inner edge (102) of the deformable membrane (100), under the effect of the relative movement between one or more components (910) and (920) of the gripping device (900).Center Plug or Socket with a Suction Cup

[0144] According to the disclosure, an inner-socket-element (600)-inner-header-element (500) assembly with an inner suction cup (800) and a stopper element (810) is shown in FIG.3A and FIG. 6. FIG. 3A is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner header element (500), the stopper element (810) attached to the inner header element (500), and the outer suction cup (850) attached to the outer header element (200).

[0145] According to FIG. 3A, the membrane module (10) further comprising an inner suction cup (800) configured to form a seal against an object (950) to be grasped, such that if the inner header fluid passage (510) is depressurized, a suction force against the object (950) can be better created to help grasp the object (950). The inner suction cup (800) can be attached to the end of the inner header element (500) as in FIG. 3A or can be attached toNexera Corp.the inner socket element (600) as in FIG. 6. FIG. 6 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner socket element (600), the stopper element (810) attached to the inner socket element (600), and the outer suction cup attached to outer socket element (300).Center Plug or Socket with a Stopper Element

[0146] According to the disclosure, an inner-socket-element (600)-inner-header-element (500) assembly with a stopper element (810) is shown in FIG. 3A, FIG, 4, FIG. 5 or FIG. 6. FIG.4 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner header element (500), the stopper element (810) attached to the inner suction cup (800), and the outer suction cup (850) attached to the outer header element (200). FIG. 5 is a diagram illustrating the membrane module (10) with the inner suction cup (800) attached to the inner socket element (600), the stopper element (810) attached to the inner suction cup (800), and the outer suction cup (850) attached to the outer header element (200).

[0147] According to FIG. 3A, FIG. 4, FIG. 5 and FIG. 6, the membrane module (10) further comprising a stopper element (810) configured to prevent the deformable membrane (100) from deforming to an extent that it blocks the opening (511 ) of the inner header fluid passage (510). In addition, if the inner suction cup (800) exists, the stopper element (810) can be also configured to prevent the inner suction cup (800) from deforming to an extent that it blocks the opening (511 ) of the inner header fluid passage (510). The stopper element (810) can be attached to the end of the inner header element (500) as in FIG. 3A, can be attached to the inner suction cup (800) as in FIG. 4 and FIG. 5, or can be attached to the inner socket element (600) as in FIG. 6.

[0148] In certain embodiments, the stopper element (810) may be provided independently of the inner suction cup (800). In such embodiments, the stopper element (810) is configured to prevent the deformable membrane (100) from occluding or blocking the opening (511 ) of the inner header element (500) without requiring the presence of the inner suction cup (800). The stopper element (810) may in such cases be directly associated with or mounted to the inner header element (500) or the inner socket element (600), and may extend into or across the opening (511 ) to a sufficient extent to perform its function of maintaining the opening (511 ) clear of the deformable membrane (100). The stopper element (810) is therefore not limited to embodiments comprising an inner suction cupNexera Corp.(800) and may be employed in any embodiment in which it is desirable to prevent the deformable membrane (100) from interfering with fluid communication through the opening (511 ).Clip Lower or Upper Part with a Rim Cup

[0149] According to the disclosure, an outer-socket-element (300)-outer-header-element (200) assembly with an outer suction cup (850) is shown in FIG. 3A and FIG. 6. The membrane module (10) further comprising an outer suction cup (850) on its outer perimeter, surrounding the membrane module (10), configured to form a seal against a large object (960) to be grasped, such that if the inner header fluid passage (510) or the outer header fluid passage (210) is depressurized, a suction force against the object (960) can be better created to help grasp the object (960). The outer suction cup (850) can be attached to the outer header element (200) as in FIG. 3A or can be attached to the outer socket element (300) as in FIG. 6.

[0150] The outer suction cup (850) is configured to be associated with the outer perimeter region of the membrane module (10) and is arranged relative to the outer header element (200) or the outer socket element (300) so as to contribute to the gripping function of the gripping interface module (1 ). In embodiments in which the outer suction cup (850) is provided, it may be mounted to or integrated with the outer header element (200) or the outer socket element (300) and may cooperate with the deformable membrane (100) to enhance the contact and sealing effect at the perimeter of an object being grasped. The specific manner of attachment of the outer suction cup (850) to the outer header element (200) or the outer socket element (300) may vary across embodiments and is not limited to a particular fastening configuration.

[0151] According to the disclosure, an embodiment with the outer header element (200) attached to the chamber (910) is shown in FIG. 3B.Inner Attachment Interface 1 - Radial Ball Lock

[0152] According to the disclosure, an inner attachment interface (700) in the form of a radial ball lock mechanism (1000) is disclosed from FIG. 7Ato FIG. 11 D.

[0153] FIG. 7A is a diagram illustrating the inner header element (500) with header side inner attachment interface (740) in the form of a radial ball lock mechanism (1000).Deformable membrane (100) not shown. FIG. 7B is a cross-section diagram illustrating theNexera Corp.Inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Deformable membrane (100) not shown.

[0154] FIG. 8A is a cross-section diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 8B is a diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Enclosure (1050) hidden. FIG. 8C is a crosssection diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Showing only the inner locking sleeve (1002), the and outer sleeves and springs. FIG. 8D is a cross-section diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). Showing only the inner and outer locking sleeve (1003) and springs (1010) and (1011 ).

[0155] FIG 9A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 9B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0156] FIG. 10A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 10B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 10C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0157] FIG. 11 A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 11 B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000). FIG. 11 C is a diagram illustrating Stage 3 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ballNexera Corp.lock mechanism (1000). FIG. 11 D is a diagram illustrating Stage 4 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a radial ball lock mechanism (1000).

[0158] According to the disclosure, the inner attachment interface (700) is in the form of a radial ball lock mechanism (1000) and is shown in FIG. 7A to FIG 11 D. In this embodiment, the inner header element (500) with the header side inner attachment interface (740) in the form of a radial ball lock mechanism (1000) is shown in FIG. 7A and FIG. 7B.

[0159] The header side inner attachment interface (740) in the form of a radial ball lock mechanism (1000) comprises the following major components: a core (1101 ) with a locking groove (1102) around it. The locking groove (1102) is to be engaged with at least one locking element (1006) on the socket side inner attachment interface (710) and will be described later.

[0160] The inner header element (500) can further comprise sealing structures (1103) such as O-rings, as shown in FIG. 7A and FIG. 7B, to help create a seal between the inner socket fluid passage (610) and the inner header fluid passage (510) as can be seen in FIG. 10C.

[0161] According to the disclosure, the inner suction cup (800) is attached to the inner header element (500). This can be achieved, for example, by fixing a tube connector (1104) to the core (1101 ), and the inner suction cup (800) with a stem (1105) can be inserted into (FIG. 7A, FIG. 7B, FIG. 9B) or pulled out from (FIG. 9A) the tube connector (1104), facilitating the installation of the membrane (100) to the inner header element (500) as in FIG. 9A and FIG. 9B.

[0162] According to the disclosure, the deformable membrane (100) is attached to and detached from the inner header element (500) as shown in FIG. 9A and FIG. 9B. To attach the deformable membrane (100) to the inner header element (500), the stem (1105) is pushed through the hole inside the inner edge (102) of the deformable membrane (100) and then inserted into the tube connector (1104). To detach the deformable membrane (100) from the inner header element (500), pull the stem (1105) out of the tube connector (1104), then pull the stem (1105) out of the hole inside the inner edge (102) of the deformable membrane (100).Nexera Corp.

[0163] According to the disclosure, the inner socket element (600) with the socket side inner attachment interface (710) in the form of a radial ball lock mechanism (1000) is shown in FIG. 8Ato FIG. 8D.

[0164] The socket side inner attachment interface (710) in the form of a radial ball lock mechanism (1000) comprises the following major components: an inner socket body (1001 ), at least one locking element (1006), an inner locking sleeve (1002), an outer locking sleeve (1003), at least one unlocking lever (1004).

[0165] The inner socket element (600) with the socket side inner attachment interface (710) in the form of a radial ball lock mechanism (1000) may further comprise an enclosure (1050). This enclosure (1050) may comprise a sealing surface (1051 ), so that when the inner header element (500) with the header side inner attachment interface (740) in the form of a radial ball lock mechanism (1000) is attached, the sealing structures (1103), for example in the form of O-rings, can press against this sealing surface (1051 ) and form a seal, allowing fluid to flow from the inner socket fluid passage (610) to the inner header fluid passage (510) or vice versa without leakage.

[0166] It will be appreciated that the enclosure (1050) and the sealing surface (1051 ) as described herein are provided in the context of embodiments in which the inner attachment interface (700) comprises a radial ball lock mechanism (1000). The enclosure (1050) is configured to cooperate with the sealing structures (1103) of the inner header element (500) so as to provide a sealed connection in this specific configuration. In other embodiments employing a different type of inner attachment interface (700), such as a latching mechanism (2000) or a preloaded bayonet lock mechanism (3000), the inner socket element (600) may or may not comprise an enclosure, depending on the structural and functional requirements of the particular embodiment.

[0167] The inner socket body (1001 ) also forms the supporting structure of the inner socket element (600). At least one inner socket fluid passage (610) passes through the inner socket body (1001 ). There is at least one hole (1005) on the wall of the inner socket body (1001 ) for accommodating the at least one locking element (1006).

[0168] According to the disclosure shown in FIG. 8A and FIG. 8B these holes (1005) are conical configured to accommodate the locking elements (1006) in the forms of balls, and the holes (1005) are so shaped such that the opening of a hole (1005) on the outside surface of the inner socket body (1001 ) has a diameter bigger than that of the locking elementNexera Corp.(1006) balls, and that the opening of the hole (1005) on the inside surface of the inner socket body (1001 ) has a diameter small than that of the locking element (1006) balls as shown in FIG. 8A. As a result, when the locking element (1006) balls are pushed inward, they will protrude from the inner surface of the inner socket body (1001 ) or the wall of the inner socket fluid passage (610) but not fall out into the inner socket fluid passage (610).

[0169] The inner locking sleeve (1002) is inside the inner socket body (1001 ) and can move axially along the axis of the inner socket body (1001 ). One or more spring (1010) apply a pushing force to the inner locking sleeve (1002) as shown in FIG. 8A, FIG. 8C and FIG. 8D. When the inner header element (500) is not attached, the inner locking sleeve (1002) is prevented from being pushed out from the inner socket body (1001 ) under the force of the spring (1010) by a step (1007) on the inner locking sleeve (1002) catching on the locking element (1006) balls protruding out from the inner surface of the inner socket body (1001 ), as shown in FIG. 8A and FIG. 10A. When the inner header element (500) is attached, the inner locking sleeve (1002) is prevented from being pushed out from the inner socket body (1001 ) under the force of the spring (1010) by resting on the top surface of the core (1101) of the inner attachment interface (740) as shown in FIG. 11 A.

[0170] The outer locking sleeve (1003) is outside of the inner socket body (1001 ) and can move axially along the axis of the inner socket body (1001 ). One or more spring (1011 ) apply a pushing force to the outer locking sleeve (1003) as shown in FIG. 8B, FIG. 8C and FIG. 8D. There is one or more protrusions (1020) on the outer locking sleeve (1003). Each of such protrusions (1020) rests on the outer end (1041 ) of an unlocking lever (1004), preventing the outer locking sleeve (1003) from being pushed away from the inner socket body (1001 ) under the force of the spring (1011 ). There is a conical step (1008) on the inner surface of the outer locking sleeve (1003) configured to catch on the locking element (1006) balls when the inner header element (500) is not attached as shown in FIG. 8A and FIG. 10A.

[0171] The unlocking lever(1004) is shown in FIG. 8Ato FIG. 8D, and it is configured to help detaching the inner header element (500) from the inner socket element (600). Each unlocking lever (1004) can rotate around an axle (1040) fixed on the inner socket body (1001 ). As shown in FIG. 8C and FIG. 8D, when a force is exerted on the inner end surface (1042), the unlocking lever (1004) will rotate around the axle (1040) and causing the outer end (1041 ) to push against a protrusion (1020) on the outer locking sleeve (1003), causing the outer locking sleeve (1003) to move in the direction that compresses the spring (1011 ).Nexera Corp.

[0172] In the embodiment described above, the unlocking lever (1004) operates in combination with the outer locking sleeve (1003), the axle (1040), and the protrusions (1020) of the radial ball lock mechanism (1000). The unlocking lever (1004) is configured to be rotated about the axle (1040) so as to cause a corresponding movement of the outer locking sleeve (1003) relative to the inner socket element (600), thereby releasing the engagement between the protrusions (1020) and the corresponding recesses of the inner header element (500). The unlocking lever (1004) is provided as part of the radial ball lock mechanism (1000) and its function is specific to this configuration. It will be understood that other types of inner attachment interface (700), such as the latching mechanism (2000) or the preloaded bayonet lock mechanism (3000), may employ different actuation or release mechanisms suited to their respective structural configurations.

[0173] In the embodiment shown in FIG. 7A to FIG. 11 D, the method of connecting the header side inner attachment interface (740) to the socket side inner attachment interface (710) or attaching the inner header element (500) to the inner socket element (600) is shown in FIG. 10Ato FIG. 10C and described as follows.

[0174] FIG. 10A shows the first stage, in which the inner header element (500) is not attached to the inner socket element (600). The inner socket element (600) with the socket side inner attachment interface (710) in the form of a radial ball lock mechanism (1000) is in the idle state, in which each locking element (1006) ball is in a position in its corresponding hole (1005) that it is protruding from both ends of the hole (1005), preventing the inner locking sleeve (1002) and the outer locking sleeve (1003) from moving towards the inner header element (500), compressing both the springs (1010) and the springs (1011 ), and keeping the outer locking sleeve (1003) in a position that its protrusions (1020) are not pressing against the outer ends (1041 ) of the unlocking levers (1004).

[0175] FIG. 10B shows the second stage, in which the inner header element (500) is in the process of being attached to the inner socket element (600). In this stage, the core (1101) on the inner header element (500) pushes against the inner locking sleeve (1002) as the former is being pushed in, causing it to move along the axial direction of the inner socket element (600) and compressing the spring (1010). As the end of the core (1101 ) on the inner header element (500) has the same diameter as the end of the inner locking sleeve (1002), the locking element (1006) balls changed from contacting the inner locking sleeve (1002) to contacting the core (1101 ) on the inner header element (500) without major movement.Nexera Corp.

[0176] FIG. 10C shows the third stage, in which the inner header element (500) is fully attached to the inner socket element (600). In this stage, as the core (1101 ) on the inner header element (500) keeps pushing in against the inner locking sleeve (1002), the locking groove (1102) on the core (1101) is exposed to the locking element (1006) balls. Notice that the spring (1011 ) is in compression and tends to push the outer locking sleeve (1003) along the axial direction towards the inner header element (500), so that once the locking groove (1102) on the core (1101) is exposed to the locking element (1006) balls, the pushing force by the spring (1011) is transformed into a radially inward pushing force against the locking element (1006) balls by the conical step (1008), pushing the locking element (1006) balls into the locking groove (1102) on the core (1101 ) . As the locking element (1006) balls move into the locking groove (1102), it is not protruding from the outer surface of the inner socket body (1001 ) anymore, and as such the conical step (1008) is not catching on the locking element (1006) balls anymore, so that the outer locking sleeve (1002) is pushed to move axially toward the inner header element (500) and the protrusions (1020) presses against the outer ends (1041 ) of the unlocking levers (1004), causing the unlocking levers (1004) to rotate about the axles (1040) and the inner end surface (1042) to move radially inwards. The rotation movement of an unlocking lever (1004), hence the axial movement of the outer locking sleeve (1002) ends when the rotation of the outer end (1041 ) of each unlocking lever (1004) is blocked by the inner socket body (1001 ). When the movement of the outer locking sleeve (1002) ends, the locking element (1006) balls is in contact with the part of the internal surface of the outer locking sleeve (1002) that has a smaller diameter, preventing the locking element (1006) balls from protruding out from the outer surface of the inner socket body (1001 ) and keep them protruding inward from the inner surface of the inner socket body (1001 ), thus locking the core (1101 ) of the inner header element (500) by the locking groove (1102), keeping the inner header element (500) attached to the inner socket element (600).

[0177] In an embodiment of the present invention, the inner header element(500) is configured without internally movable components. The movable components of the inner attachment interface (700), including the locking elements (1006), the inner locking sleeve (1002), the outer locking sleeve (1003), and the unlocking lever (1004), are arranged on the inner socket element (600). This configuration allows the inner header element (500) to be of simple construction, which may reduce the material cost associated with providing a plurality of inner suction cups (800) for use with a single inner socket element (600).Nexera Corp.

[0178] In an embodiment of the present invention, attaching or detaching the inner header element (500) to or from the inner socket element (600) simultaneously establishes or interrupts a fluid connection between the inner header fluid passage (510) and the inner socket fluid passage (610). Accordingly, the mechanical connection and the fluid connection between the inner header element (500) and the inner socket element (600) are established or interrupted in a single operation.

[0179] In the embodiment shown in FIG. 7A to FIG 11 D, the method of disconnecting the header side inner attachment interface (740) from the socket side inner attachment interface (710) or detaching the inner header element (500) from the inner socket element (600) is shown in FIG. 11 Ato FIG. 11 D and described as follows.

[0180] FIG. 11 A shows the first stage, in which a disconnection rod (1200) is inserted through the inner header fluid passage (510) and reaching into the inner socket fluid passage (610) until its head (1201 ) contacts with the inner end surface (1042) of the unlocking lever (1004) and cannot be inserted inward further without applying an inserting force. The cross section of the disconnection rod (1200) should small enough to allow insertion into the inner header fluid passage (510) and the inner socket fluid passage (610), but big enough to be able to be blocked by the inner end surface (1042) of the unlocking lever (1004).

[0181] FIG. 11 B shows the second stage, in which a force is applied to push the disconnection rod (1200) further inward. As a result of the movement of the disconnection rod (1200), inner end surfaces (1042) of the unlocking levers (1004) are pushed radially outward, causing the unlocking levers (1004) to rotate around the axles (1040) and the outer ends (1041 ) of the unlocking levers (1004) to move generally in the axial direction away from the inner header element (500). The outer ends (1041 ) of the unlocking levers (1004) thus presses against the protrusions (1020) of the outer locking sleeve (1003), causing the outer locking sleeve (1003) to move in the axial direction away from the inner header element (500), overcoming the force of and further compressing the spring (1011 ). As the disconnection rod (1200) is inserted further in, the outer locking sleeve (1003) keeps moving by the unlocking levers (1004), until the conical step (1008) on the outer locking sleeve (1003) is exposed to the holes (1005) on the wall of the inner socket body (1001 ). At this point, the pushing force from the compressed spring (1010) pushes the inner locking sleeve (1002) axially towards the inner header element (500), which pushes the core (1101 ) of the inner header element (500). Such an axial pushing force is transformed into radialNexera Corp.push forces against the locking element (1006) balls by the conical step on the locking groove (1102) on the core (1101) of the inner header element (500), pushing the locking element (1006) balls outwards passing the conical step (1008) on the outer locking sleeve (1003). As such, the locking element (1006) balls are protruding less from the inner surface of the inner socket body (1001 ) or the wall of the inner socket fluid passage (610), so that they are not catching the locking groove (1102) on the core (1101 ) of the inner header element (500) anymore. So that the inner locking sleeve (1002) is able to push the core (1101 ) of the inner header element (500) away axially under the pushing force from the compressed spring (1011 ).

[0182] FIG. 11 C shows the third stage, in which the core (1101) of the inner header element (500) is fully pushed out from the inner socket element (600) by the inner locking sleeve (1002), and the further axial movement of the inner locking sleeve (1002) is stopped because the locking element (1006) balls are still protruding a little from the inner surface of the inner socket body (1001 ) orthe wall of the inner socket fluid passage (610), and such protrusion is enough to catch on the step (1007) on the inner locking sleeve (1002) and stop latter from further axial movement.

[0183] FIG. 11 D shows the fourth stage, in which the disconnection rod (1200) is pull out from the inner socket element (600). The disconnection rod (1200) is therefore not pressing against the inner end surface (1042) of the unlocking lever (1004) anymore, and the outer locking sleeve (1003) is only subject to the full pushing force of the spring (1011 ), pressing the conical step (1008) on it against the locking element (1006) balls. As the locking element (1006) balls cannot move radially inwards due to the blockage of the inner locking sleeve (1002), the locking element (1006) balls stop the outer locking sleeve (1003) from moving axially further, and the inner socket element (600) returned to the state as in FIG. 10A.

[0184] Notice that due to the existence of the enclosure (1050) and the gripping device component (920) blocking the access to the outer locking sleeve (1003), the method shown in FIG. 11 A to FIG. 11 D is the only way to detach the inner header element (500) from the inner socket element (600) with the inner attachment interface (700) being a radial ball lock mechanism (1000).

[0185] Also notice that the method shown in FIG. 10A to FIG. 11 D can be easily automated. Specifically, to attach the inner header element (500) to inner socket element (600), the gripping device can be brought to a position such that its inner socket elementNexera Corp.(600) is align with an inner header element (500), and then the gripping device is move towards the inner header element (500) or vice versa until the inner header element (500) and the inner socket element (600) are connected. To detach the inner header element (500) from the inner socket element (600), the gripping device with the inner header element (500) attached can be brought to a position such that its inner header element (500) is align with a disconnection rod (1200), and then the gripping device is move towards the disconnection rod (1200) or vice versa until the inner header element (500) and the inner socket element (600) are disconnected.Inner Attachment Interface 2 - Latch

[0186] According to the disclosure, an inner attachment interface (700) in the form of a latching mechanism (2000) is shown in FIG. 12Ato FG. 16B.

[0187] FIG. 12A is a diagram illustrating the inner header element (500) with the inner attachment interface (700) in the form of a latching mechanism (2000). Deformable membrane (100) not shown. FIG 12B is a cross-section diagram illustrating the inner header element (500) with the inner attachment interface (700) in the form of a latching mechanism (2000). Deformable membrane (100) not shown.

[0188] FIG. 13A is a diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a latching mechanism (2000). FIG. 13B is a crosssection diagram illustrating the Inner socket element (600) with inner attachment interface (700) in the form of a latching mechanism (2000).

[0189] FIG. 14A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000). FIG. 14B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a latching mechanism (2000).

[0190] FIG. 15A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000). FIG 15B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000). FIG. 15C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), withNexera Corp.the inner attachment interface (700) in the form of a latching mechanism (2000). FIG. 15D is a diagram illustrating Stage 4 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0191] FIG. 16A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000). FIG. 16B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a latching mechanism (2000).

[0192] According to the disclosure, the inner header element (500) with the header side inner attachment interface (740) in the form of a latching mechanism (2000) is shown in FIG.12A and FIG. 12B.

[0193] The header side inner attachment interface (740) in the form of latching mechanism (2000) comprises the following major components: a latching core (2101 ) and one or more latching arms (2102). Each latching arm (2102) has a latching hook (2103) on one end. Each latching arm can pivot around an axle (2140) fixed to the latching core (2101 ). Each latching arm (2102) is preloaded by at least one spring (2104) on the end without the latching hook (2103), so that the force of the spring (2104) tends to rotate the latching arm (2102) around the axle (2140) and make the latching hook (2103) tend to move laterally towards the longitudinal axis of the inner header element (500). The inner header element (500) can further comprise seals (2200, 2201 ) as shown in FIG. 12A and FIG. 12B, to help create a seal between the inner socket fluid passage (610) and the inner header fluid passage (510) as can be seen in FIG. 14B.

[0194] According to the disclosure, the inner suction cup (800) is attached to the inner header element (500). The deformable membrane (100) can be installed in the process. This can be achieved as follows. Firstly, an inner suction cup assembly (820) is built as shown in FIG. 23Ato FIG. 23C.

[0195] FIG. 23A is a diagram illustrating an exploded view of the inner suction cup assembly (820). FIG. 23B is a diagram illustrating an assembled view of the inner suction cup assembly (820). FIG. 23C is a diagram illustrating the inner suction cup assembly (820) with an inner cup support ring (805).Nexera Corp.

[0196] According to FIG. 23A to FIG. 23C, a stopper element (810) is fixed to one end of a stem (2105) by, for example, a pin (811 ). Then the inner suction cup (800) is pushed in from the other end of the stem (2105) until it is stopped by the stopper element (810). Notice that in FIG. 23 A to FIG. 23C, a soft padding (812) is added to the stopper element (810) to provide a soft contact surface. Also notice that in FIG. 23C an inner cup support ring (805) is added to the inner suction cup (800) to prevent it from collapsing under external forces.

[0197] The inner cup support ring (805) is configured to provide structural support to the inner suction cup (800) when the inner suction cup (800) is assembled within the inner suction cup assembly (820). In particular, the inner cup support ring (805) may serve to maintain the shape and positional integrity of the inner suction cup (800) relative to the inner header element (500) or the inner socket element (600), thereby ensuring consistent sealing performance and reliable engagement of the inner suction cup (800) with an object to be grasped. The inner cup support ring (805) is provided as a component of the inner suction cup assembly (820) and is configured to cooperate with the other components of the assembly to fulfil its supporting function.

[0198] Then, as shown in FIG. 14A and FIG. 14B, the stem (2105) on the inner suction cup assembly (820) is pushed through the hole inside the inner edge (102) of the deformable membrane (100) and then inserted into the inner header fluid passage (510) in the latching core (2101 ). Finally, the stem (2105) is fixed to the latching core (2101 ) by a fastener (2106), for example a screw or a pin. To remove the deformable membrane (100) or the inner suction cup (800), one only needs to perform the aforementioned process in reverse.

[0199] According to the disclosure, the inner socket element (600) with the socket side inner attachment interface (710) in the form of a latching mechanism (2000) is shown in FIG.13A and FIG. 13B. The socket side inner attachment interface (710) in the form of a latching mechanism (2000) as shown in FIG. 13A and FIG. 13B comprises the following major components: a latching inner socket body (2001 ) with at least one latching guide groove (2002) and at least one latching face (2003) on its exterior, an inner socket fluid passage (610) and an inner socket surface (2005) on its interior. The inner socket element (600) with the socket side inner attachment interface (710) in the form of a latching mechanism (2000) may further comprise a top block (2004) configured to attach the inner socket element (600) to a component (920) on the gripping device. The top block (2004) can also be integrated into the latching inner socket body (2001 ) as one piece.Nexera Corp.

[0200] According to the disclosure shown in FIG. 12Ato FIG. 16B, the method of connecting the header side inner attachment interface (740) to the socket side inner attachment interface (710) or attaching the inner header element (500) to the inner socket element (600) is shown in FIG. 15A to FIG. 16D and described as follows.

[0201] FIG. 15A shows the first stage, where the inner header element (500) and the inner socket element (600) are brought into aligned axially and with the latching arms (2102) on the inner header element (500) aligned with the latching guide grooves (2002) on the inner socket element (500).

[0202] FIG. 15B shows the second stage, where the inner header element (500) and the inner socket element (600) are move towards each other until the latching arms (2102) on the inner header element (500) contact the starting point of the latching guide grooves (2002) on the inner socket element (500).

[0203] FIG. 15C shows the third stage, where the inner header element (500) and the inner socket element (600) are made move closer towards each other. The latching arms (2102) on the inner header element (500) are pushed open by the latching guide grooves (2002) on the inner socket element (500) with the springs (2104) compressed, and then the latching hooks (2103) slides along the latching guide grooves (2002).

[0204] FIG. 15D shows the fourth stage, where the inner header element (500) and the inner socket element (600) are made move closer towards each other until latching hooks (2103) reach the end of the guide grooves (2002). At this moment, the guide grooves (2002) can no longer support the latching hooks (2103). As a result, the springs (2104) decompresses, pushing the latching arm (2102) to rotate around the axles (2140) and the latching hooks (2103) move laterally towards the longitudinal axis of the inner header element (500), engaging with the latching faces (2003) on the latching inner socket body (2001 ). At this time the seals (2200) on the inner header element (500) also makes contact with the inner socket surface (2005), creating a seal between the inner socket fluid passage (610) and the inner header fluid passage (510).

[0205] According to the disclosure shown in FIG. 12Ato FIG. 16B, the method of disconnecting the header side inner attachment interface (740) from the socket side inner attachment interface (710) or detaching the inner header element (500) from the inner socket element (600) is shown in FIG. 16A to FIG. 16B and described as follows.Nexera Corp.

[0206] FIG. 16A shows the first stage, where external lateral forces towards the longitudinal axis of the inner header element (500) are applied to the ends of the latching arms (2102) without the latching hooks (2103), so that the springs (2104) are compressed with the latching arms (2102) rotating around the axles (2140). The rotation of the latching arms (2102) allows the latching hooks (2103) to disengage from the latching faces (2003), allowing the inner header element (500) to be pull away from the inner socket element (600).

[0207] FIG. 16B shows the second stage, where the inner header element (500) to be pull away from the inner socket element (600).Inner Attachment Interface 3 - Preloaded Bayonet Lock

[0208] According to the disclosure, an inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000) is shown in FIG. 17Ato FIG. 22.

[0209] FIG. 17A is a diagram illustrating the Inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). Deformable membrane (100) not shown. FIG. 17B is a cross-section diagram illustrating the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). Deformable membrane (100) not shown.

[0210] FIG. 18A is a diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG.18B is a cross-section diagram illustrating the inner socket element (600) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0211] FIG. 19A is a diagram illustrating Stage 1 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG. 19B is a diagram illustrating Stage 2 of installing the deformable membrane (100) to the inner header element (500) with inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0212] FIG. 20A is a diagram illustrating Stage 1 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG. 20B is a diagram illustrating Stage 2 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG.Nexera Corp.20C is a diagram illustrating Stage 3 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG. 20D is a diagram illustrating Stage 4 of attaching the inner header element (500) to the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0213] FIG. 21 A is a diagram illustrating Stage 1 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG. 21 B is a diagram illustrating Stage 2 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). FIG. 21 C is a diagram illustrating Stage 3 of detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0214] FIG. 22 is a diagram illustrating the socket tool (1203) for detaching the inner header element (500) from the inner socket element (600), with the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000).

[0215] According to the disclosure, the inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000) is shown in FIG. 17Ato FIG. 22. According to FIG. 17Ato FIG. 22, the inner header element (500) with the header side inner attachment interface (740) in the form of a preloaded bayonet lock mechanism (3000) is shown in FIG.17A and FIG. 17B.

[0216] According to the disclosure, the header side inner attachment interface (740) in the form of a preloaded bayonet lock mechanism (3000) comprises the following major components: a bayonet lock core (3101 ) with one or more tongues (3102). The inner header element (500) can further comprise seals (3200, 3201 ) as shown in FIG. 17A and FIG. 17B, to help create a seal between the inner socket fluid passage (610) and the inner header fluid passage (510) as can be seen in FIG. 19B.

[0217] According to the disclosure, the inner suction cup (800) is attached to the inner header element (500). The deformable membrane (100) can be installed in the process. This can be achieved as follows. Firstly, an inner suction cup assembly (820) is built as shown in FIG. 23Ato FIG. 23C and as follows. A stopper element (810) is fixed to one end of a stemNexera Corp.(2105) by, for example, a pin (811 ). Then the inner suction cup (800) is pushed in from the other end of the stem (2105) until it is stopped by the stopper element (810).

[0218] FIG. 23A is a diagram illustrating an exploded view of the inner suction cup assembly (820). FIG. 23B is a diagram illustrating an assembled view of the inner suction cup assembly (820). FIG. 23C is a diagram illustrating the inner suction cup assembly (820) with an inner cup support ring (805). Notice that in FIG. 23A to FIG. 23C, a soft padding (812) is added to the stopper element (810) to provide a soft contact surface. Also notice that in FIG.23C an inner cup support ring (805) is added to the inner suction cup (800) to prevent it from collapsing under external forces.

[0219] Then, as shown in FIG. 19A and FIG. 19B, the stem (2105) on the inner suction cup assembly (820) is pushed through the hole inside the inner edge (102) of the deformable membrane (100) and then inserted into the inner header fluid passage (510) in the bayonet lock core (3101 ). Finally, the stem (2105) is fixed to the bayonet lock core (3101 ) by a fastener (2106), for example a screw or a pin. To remove the deformable membrane (100) or the inner suction cup (800), one only needs to perform the aforementioned process in reverse.

[0220] According to the disclosure, the inner socket element (600) with the socket side inner attachment interface (710) in the form of a preloaded bayonet lock mechanism (3000) is shown in FIG. 18A and FIG. 18B. The socket side inner attachment interface (710) in the form of a preloaded bayonet lock mechanism (3000) as shown in FIG. 18A and FIG. 18B comprises the following major components: a bayonet lock inner socket body (3001 ), which can be divided into a lower part (3002) and a upper part (3003) with a sealing element (3202) in between, or can be made in one piece, and at least one spring-loaded ball (3012) configured to push along the longitudinal axis of the inner socket element (600) towards the inner header element (600). The upper part (3003) of the bayonet lock inner socket body (3001 ) comprises an inner socket fluid passage (610). The lower part (3002) of the bayonet lock inner socket body (3001 ) comprises a bayonet locking cam layer (3006) and an inner socket surface (3005) on its interior. The bayonet locking cam layer (3006) comprises one or more locking cams (3007), with each locking cam (3007) comprising an entry protrusion (3008), a resting notch (3009), and a stopping ridge (3010). The opening end of the inner socket surface (3005) further comprising a conical guiding surface (3011 ) configured to guide the inner header element (500) into the inner socket element (600).Nexera Corp.

[0221] According to the disclosure, the inner socket element (600) with the socket side inner attachment interface (710) in the form of a preloaded bayonet lock mechanism (3000) may further comprise a top block (2004) configured to attach the inner socket element (600) to a component (920) on the gripping device. The top block (2004) can also be integrated into the bayonet lock inner socket body (3001 ) or the upper part (3003) as one piece.

[0222] According to the disclosure, shown in FIG. 17Ato FIG. 22, the method of connecting the header side inner attachment interface (740) to the socket side inner attachment interface (710) or attaching the inner header element (500) to the inner socket element (600) is shown in FIG. 20A to Fig 20D and described as follows.

[0223] According to the disclosure, FIG. 20A shows the first stage, where the inner header element (500) and the inner socket element (600) are brought into aligned axially and with the tongues (3102) on the inner header element (500) aligned with the gaps between locking the cams (3007) on the inner socket element (500).

[0224] According to the disclosure, FIG. 20B shows the second stage, where the inner header element (500) and the inner socket element (600) are moved towards each other until the inner header element (500) is stopped by the lower part (3002) or the upper part (3003) of the bayonet lock inner socket body (3001 ) and cannot be pushed inward further. At this moment, the lower surface face of a tongue (3102) is over the upper surface of the entry protrusion (3008) of a locking cam (3007), so that if the tongues (3102) are rotated by the inner header element (500), they can go over the entry protrusions (3008) of the locking cams (3007) without being obstructed by such entry protrusions (3008). At this moment, the seals (3200) on the inner header element (500) also makes contact with the inner socket surface (3005), creating a seal between the inner socket fluid passage (610) and the inner header fluid passage (510).

[0225] According to the disclosure, FIG. 20C shows the third stage, where a pushing force and a rotating moment are applied to the inner header element (500), so that the inner header element (500) is rotated, bring the tongues (3102) to can go over the entry protrusions (3008) of the locking cams (3007) without being obstructed by such entry protrusions (3008). As the rotation progresses, the tongues (3102) also press against the spring-loaded balls (3012), forcing them to move away from the inner header element (500) while compressing their preload springs. The rotation of the inner header element (500) stops when the tongues (3102) hit the stopping ridges (3010) of the locking cams (3007).Nexera Corp.

[0226] According to the disclosure, FIG. 20D shows the fourth stage, where a pushing force and a rotating moment applied to the inner header element (500) are removed. As such, the spring-loaded balls (3012) push the tongues (3102) back out a bit, hence pushing the inner header element (500) away from the inner socket element (600). But the tongues (3102) are caught by the resting notches (3009) of the locking cams (3007), preventing the inner header element (500) from being pushed out further. Also, the inner header element (500) at this moment cannot be rotated as the tongues (3102) resting on the resting notches (3009) are limited on the sides by the stopping ridges (3010) and the entry protrusions (3008). So that the inner header element (500) is attached to the inner socket element (600).

[0227] According to the disclosure, as shown in FIG. 17Ato FIG. 22, the method of disconnecting the header side inner attachment interface (740) from the socket side inner attachment interface (710) or detaching the inner header element (500) from the inner socket element(600) is shown in FIG. 21Ato Fig 21C and described as follows.

[0228] According to the disclosure, FIG. 21 A shows the first stage, where a force is applied to the inner header element (500) to push it against the inner socket element (600). As a result, the tongues (3102) on the inner header element (500) press against the spring-loaded balls (3012), forcing them to retract while compressing their preload springs. The tongues (3102) eventually reach a position that if the inner header element (500) is rotated together with the tongues (3102), the tongues (3102) is clear of the entry protrusions (3008) of the locking cams (3007) and will not be blocked by the latter.

[0229] According to the disclosure, FIG. 21 B shows the second stage, where a moment is applied to the inner header element (500) to rotate it so that the tongues (3102) are rotated until they are aligned with the gaps between locking the cams (3007) on the inner socket element (500) and stopped by the stopping ridges (3010). Notice that at this moment the tongues (3102) are no longer pressing against the spring-loaded balls (3012), so that the latter spring back.

[0230] According to the disclosure, FIG. 21 C shows the third stage, where the moment applied to the inner header element (500) is removed, and the pushing force applied to the inner header element (500) is changed to a pulling force. As such, the inner header element (500) is pulled away from the inner socket element (600).

[0231] Notice that method shown in FIG. 20Ato Fig 21 C can be automated. For example, in an embodiment shown in FIG. 22, the stopper element (810) comprises at least a ridgeNexera Corp.(813), such that a socket tool (1203) with notches (1204) can mate with such ridge (813) and transfer torque from the socket tool (1203) to the stopper element, and hence to the inner header element (500) through the pin (811 ). Using the embodiment shown in FIG. 22, to attach the inner header element (500) to inner socket element (600), the gripping device can be brought to a position such that its inner socket element (600) is align with an inner header element (500) as in FIG. 20A, where the inner header element (500) is held by a fixed socket tool (1203). Then the gripping device is moved towards the inner header element (500) or vice versa until the inner header element (500) cannot move into the inner socket element (600) any further as in FIG. 20B.

[0232] Finally, the griping device can be twisted, bring the inner socket element (600) with it while the inner header element (500) is held by the fixed socket tool (1203) and cannot rotate. As such a relative rotation occurs between the inner header element (500) and the inner socket element (600), causing them to connect as in FIG. 20C and FIG. 20D. To detach the inner header element (500) from the inner socket element (600), the gripping device with the inner header element (500) attached can be brought to a position such that the stopper element (810) and its ridges (813) are mated with a fixed socket tool (1203) and the notches (1204) on it, as such the fixed socket tool (1203) with notches (1204) can provide the force and moment needed to detach the inner header element (500) from the inner socket element (600) following FIG. 21 A to 21 C.

[0233] According to the disclosure, FIG. 24 is a diagram illustrating the stopper element (810). FIG. 24 comprises a base ring (815) with holes (816) for accommodating the pin (811 ), a cross bar (817), optionally a ridge (813), and a disc (818) supporting by a pillar (819). The embodiment of the stopper element (810) in FIG. 24 ensures small resistance to fluid flow across the stopper element (810) by flowing through between the cross bar (817) and the base ring (815) while the disc (818) can effectively prevent the deformable membrane (100) and the inner suction cup (800) from clasping and blocking the fluid flow.General arrangement of an Outer Socket Element

[0234] According to the disclosure, a general arrangement of an outer socket element (300) can be shown in FIG. 25A and FIG. 25B. FIG. 25A is a diagram illustrating the bottomside view of an outer socket element (300). FIG. 25B is a diagram illustrating the top-side view of an outer socket element (300).Nexera Corp.

[0235] According to the disclosure, FIG. 25A and FIG. 25B shows a typical outer socket element (300). The outer socket element (300) is of a ring shape. The bottom side of the outer socket element (300) is configured to accept the attachment and detachment of an outer header element (200). The bottom side of the outer socket element (300) comprises a socket side outer attachment interface (410) in the form of one or more attachment mortises (420) configured to be mated with the attachment tenons (450) on the outer header element (200). The bottom side of the outer socket element (300) further comprises one or more fluid passage sockets (311 ) configured to be mated with the fluid passage headers (211 ) on the outer header element (200) so as to connect the outer socket fluid passage (310) to the outer header fluid passage (210). Central sealing elements (305) are provided and configured to form a seal with the header side central sealing surface (221 ) on the outer header element (200).

[0236] According to FIG. 25A and FIG. 25B, the top side of the outer socket element (300) is to be mounted to one or more components (920) of the gripping device (900). The top side of the outer socket element (300) comprises features such as fastening features (301 ) for securing the outer socket element (300) to the gripping device components (920), a socket side central sealing surface (302) configured to facilitate the formation of a seal between the outer socket element (300) and the gripping device components (920), and one or more socket fluid passage entry ports (303) configured to allow fluid to pass from the gripping device components (920) to the socket fluid passage (310). Sealing elements (304) may be present on the socket fluid passage entry ports (303) to ensure the connection between the gripping device components (920) and the socket fluid passage entry ports (303) is leakage free.

[0237] There are multiple ways to implement the internal structure of the outer socket element (300), based on different implementations of the outer attachment interface (400). Some example embodiments will be described later.General Arrangement of an Outer Header Element

[0238] According to the disclosure, a general arrangement of an outer header element (200) is shown in FIG. 26A and 26B. FIG. 26A is a diagram illustrating the top-side view of an outer header element (200) with deformable membrane (100) and outer suction cup (850) attached. FIG. 26B is a diagram illustrating the bottom view of an outer header element (200) with deformable membrane (100) and outer suction cup (850) attached.Nexera Corp.

[0239] According to FIG. 26A and FIG. 26B shows a typical outer header element (200) with a deformable membrane (100) and an outer suction cup (850) attached. Such an outer header element (200) comprises at least an outer header main body (220), an outer suction cup attachment ring (230), and a membrane clamping ring (240).

[0240] According to FIG. 26A and FIG. 26B, The outer header main body (220) further comprises a header side outer attachment interface (440) in the form of one or more attachment tenons (450) protruding from the top of the outer header main body (220) configured to be mated with the attachment mortises (420) on the outer socket element (300), and one or more fluid passage headers (211 ) configured to be mated with the fluid passage sockets (311 ) on the outer socket element (300) so as to connect the outer socket fluid passage (310) to the outer header fluid passage (210). Sealing elements (213) may present on the fluid passage headers (211 ) to ensure the connection between the outer socket fluid passage (310) and the outer header fluid passage (210) is leakage free. The outer header main body (220) further comprises a header side central sealing surface (221 ) configured to form a seal with the central sealing elements (305) on the outer socket element (300).

[0241] There are multiple ways to implement the outer header main body (220), especially the attachment tenons (450), based on different implementations of the outer attachment interface (400). Some example embodiments will be described later. On the bottom side of the outer header element (200), one or more suction ports (212) are positioned around the outer edge (101 ) of the deformable membrane (100) but inside the outer suction cup (850). Each suction port (212) is in fluid connection to one or more outer header fluid passage (210), configured to allow fluid to be suck into or blow out of or flow out from such outer header fluid passage (210), generating a grasping or ejection force for an object (950) to be grasped.Outer Connecting Elements

[0242] In another embodiment as shown in FIG. 25C and FIG. 26C, the one or more attachment tenons (450) are on the outer socket element (300) and the one or more attachment mortises (420) are on the outer header element (200). Such attachment tenons (450) and attachment mortises (420) are examples of outer connecting elements. At least one of the following components comprise at least an outer connecting element: the outer socket element (300) with the socket side outer attachment interface (410) and the outerNexera Corp.header element (200) with the header side outer attachment interface (440). The outer connecting element has a passive or active locking design, based on a mechanical, electrical, or magnetic connection or a combination of the above.

[0243] In another embodiment, the outer connecting elements consist of at least a one mortise (420)-tenon (450) couple, wherein the outer socket element (300) with the socket side outer attachment interface (410) comprises at least one attachment mortise (420) or tenon (450); wherein the outer header element (200) with the header side outer attachment interface (440) comprises at least one attachment mortise (420) or tenon (450); wherein the tenon (450) is configured to be inserted into the attachment mortise (420) to connect the outer header element (200) to the outer socket element (300); wherein said outer attachment interface (400) further comprises a locking interface configured to lock the outer socket element (300) and the outer header element (200) together when the attachment tenons (450) are inserted into the attachment mortises (420).Outer Attachment Interface 1 - Radial Ball Lock with Lifting Sleeve

[0244] According to the disclosure, an outer attachment interface (400) in the form of a radial ball lock with lifting sleeve mechanism (5000) is shown in FIG. 27 to FIG. 32C.

[0245] FIG. 27 is a diagram illustrating the top-side view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached.

[0246] FIG. 28A is a diagram illustrating the section view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached. FIG.28B is a diagram illustrating the section view of an outer header element (200) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). Deformable membrane (100) and outer suction cup (850) attached.

[0247] FIG. 29A is a diagram illustrating an exploded view of the embodiment of the outer suction cup attachment assembly (860). FIG. 29B is a diagram illustrating a partially assembled view of the embodiment of the outer suction cup attachment assembly (860). FIG. 29C is a diagram illustrating an assembled view of the embodiment of the outer suction cup attachment assembly (860).Nexera Corp.

[0248] FIG. 30A is a diagram illustrating a process of attaching the outer suction cup (850) and the deformable membrane (100) to the outer header element (200). FIG. 30B is a diagram illustrating the process of attaching the outer suction cup (850) and the deformable membrane (100) to the outer header element (200).

[0249] FIG. 31 A is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). FIG.31 B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). FIG.31 C is a diagram illustrating an exploded views of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0250] FIG. 32A is a diagram illustrating Stage 1 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). FIG. 32B is a diagram illustrating Stage 2 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000). FIG. 32C is a diagram illustrating Stage 3 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with lifting sleeve mechanism (5000).

[0251] In the embodiments shown in FIG. 27 to FIG. 32C, the outer header element (200) with the header side outer attachment interface (440) in the form of a radial ball lock with lifting sleeve mechanism (5000) is shown in FIG. 27 to FIG. 30B. The header side outer attachment interface (440) in the form of a radial ball lock with lifting sleeve mechanism (5000) comprises the attachment tenons (450) on the outer header main body (5220). Each of such attachment tenons (450) comprises a locking groove (451 ) configured to engage with an outer locking element (452) on the outer socket element (300). In this embodiment, the outer locking element (452) is in the form of a ball.

[0252] In the embodiments shown in FIG. 27 to FIG. 32C, the outer suction cup (850) is attached to the outer header element (200), and the deformable membrane (100) can be installed in the process, as shown from FIG. 29Ato FIG. 30B. This can be achieved as follows. Firstly, an outer suction cup attachment assembly (860) is built as shown in FIG. 29A to FIG. 29C and as follows. The outer suction cup (850) is attached to the membraneNexera Corp.clamping ring (240) with the ridges (241 ) on the perimeter of the membrane clamping ring (240) let into the grooves (851 ) on the internal surface of the outer suction cup (850) as shown in FIG. 29B. And the outer suction cup attachment ring (230) is then installed to sandwich the outer suction cup (850) between the membrane clamping ring (240) and the outer suction cup attachment ring (230) as in FIG. 29C. The outer suction cup attachment ring (230) has an internal lip (231 ) that catches on the edge of membrane clamping ring (240) to properly locate the outer suction cup attachment ring (230) relative to the membrane clamping ring (240).

[0253] Then, as shown in FIG. 30A and FIG. 30B, the deformable membrane (100) is inserted through the outer suction cup attachment assembly (860) with its outer edge (101 ) catching on an internal lip (242) on the suction cup attachment ring (230). And finally, the outer suction cup attachment assembly (860) is attached to the outer header main body (5220) by fasteners (224), clamping the deformable membrane (100) between the outer header main body (5220) and the suction cup attachment ring (230). Also, an external step (222) on the outer header main body (5220) in addition to the membrane clamping ring (240) fully confined the membrane clamping ring (240).

[0254] The outer header element (200) may further comprise a soft internal lip (223), which can be a separate element or integrated with the outer header main body (5220), to provide a soft contacting surface for the deformable membrane (100) and prevent the latter from being damaged when the deformable membrane (100) touches the outer header main body (5220).

[0255] In the embodiment shown in FIG. 27 to FIG. 32C, the outer socket element (300) with the header side outer attachment interface (410) in the form of a radial ball lock with lifting sleeve mechanism (5000) is shown in FIG. 31 A to FIG. 31 C. The outer socket element (300) with the header side outer attachment interface (410) in the form of a radial ball lock with lifting sleeve mechanism (5000) comprises: an outer socket top block (5110), an outer socket bottom block (5120), a lifting locking sleeve (5130), at least one internal locking piece (5140), and at least one outer locking element (452).

[0256] In addition, to facilitate the smooth operation of the outer attachment interface (410), the outer socket element (300) with the header side outer attachment interface (410) in the form of radial ball lock with lifting sleeve mechanism (5000) may further compriseNexera Corp.guide shafts (5150) and springs (5160) for the lifting locking sleeve (5130), and springs (5170) for the internal locking pieces (5140).

[0257] The outer socket bottom block (5120) further comprises pockets (5121 ) in which the internal locking pieces (5140) can move along the axial direction of the outer socket bottom block (5120). A groove (5122) is made on a side surface of each pocket (5121 ) to accept a ridge (5141) on the internal locking piece (5140). The groove (5122) terminates shortly before the opening of the pocket (5121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limiting the axial movement of the internal locking piece (5140), preventing it from falling out.

[0258] The outer socket bottom block (5120) further comprises recesses (5123) to accommodate the protrusions (5131 ) on the internal surface of the lifting locking sleeve (5130), allowing the lifting locking sleeve (5130) to move along the axial direction of the outer socket bottom block (5120). An external rim (5124) on the outer socket bottom block (5120) limits the range of movement of the lifting locking sleeve (5130).

[0259] The outer socket bottom block (5120) further comprises holes (5125) to accommodate the outer locking elements (452). In the embodiment shown in FIG. 31 Ato FIG. 31 C, the outer locking elements (452) are balls and the holes (5125) are conical with the bigger end facing outwards, and the depth of the holes (5125) is smaller than the diameter of the outer locking element (452) balls so that the outer locking element (452) balls can protrude out of either or both ends of the holes (5125).

[0260] The outer socket top block (5110) comprises recesses (5111 ) that align with the recesses (5123) on the outer socket bottom block (5120) to accommodate the protrusions (5131 ) on the internal surface of the lifting locking sleeve (5130), allowing the lifting locking sleeve (5130) to move along the axial direction of the outer socket bottom block (5120) and the end surface of the recesses (5111) limits the range of movement of the lifting locking sleeve (5130).

[0261] The lifting locking sleeve (5130) further comprises a conical step (5132) around its internal surface configured to catch on the outer locking element (452) balls if they are protruding from the outer end of the holes (5125), preventing the lifting locking sleeve (5130) from moving further towards the outer header element (200). The conical step (5132) also exerts a radial force to the outer locking element (452) balls toward the axis of the outer socket element (300) when catching on the outer locking element (452) balls. The internalNexera Corp.surface (5133) above the conical step (5132) and the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) are configured to block the radial outward movement of the outer locking element (452) balls.

[0262] The protrusions (5131 ) on the internal surface of the lifting locking sleeve (5130) may further comprise holes (5135) configured to accommodate the guide shafts (5150), so that the guide shafts (5150) can guide the movement of the lifting locking sleeve (5130) along the axial direction of the outer socket element (300). The ends of the guide shafts (5150) are let into recesses on the outer socket top block (5110) and outer socket bottom block (5120). Springs (5160) are placed between the protrusions (5131) and the outer socket top block (5110) to provide an axial preload force on the lifting locking sleeve (5130) towards the direction of the outer header element (200).

[0263] Each internal locking piece (5140) further comprising a slanted step (5142) configured to catch on the outer locking element (452) balls if they are protruding from the inner end of the holes (5125), preventing the internal locking piece (5140) from moving further towards the outer header element (200). The slanted step (5142) also exerts an outward radial force to the outer locking element (452) balls when catching on the outer locking element (452) balls. The surface (5143) below the slanted step (5142) of the internal locking piece (5140) is configured to block the radial inward movement of the outer locking element (452) balls.

[0264] A spring (5170) is installed between each internal locking piece (5140) and the outer socket top block (5110) to provide an axial preload force on the internal locking piece (5140) towards the direction of the outer header element (200).

[0265] The outer socket top block (5110) and the outer socket bottom block (5120) further comprises one or more outer fluid socket passages (310), connecting the socket fluid passage entry ports (303) to the fluid passage sockets (311 ).

[0266] In the embodiments shown in FIG. 27 to FIG. 32C, the method of attaching the outer header element (200) to the outer socket element (300) involves a single linear relative motion between the two parts as shown in FIG. 32A to FIG. 32C. The processes are detailed as follows below.

[0267] FIG. 32A shows the first stage of attaching the outer header element (200) to the outer socket element (300). The outer socket element (300) is in an idle state where theNexera Corp.internal locking pieces (5140) are in the lowest position with the end of their ridges (5141) sitting at the lower end of the grooves (5122) on the outer socket bottom block (5120). As such, the surfaces (5143) of the internal locking pieces (5140) are in contact with the outer locking element (452) balls, preventing them from protruding too much from the inner end of the holes (5125). As a result, the outer locking element (452) balls are protruding from the outer end of the holes (5125) and catching the conical step (5132) of the lifting locking sleeve (5130), preventing the lifting locking sleeve (5130) from moving towards the outer header element (200) under the force exerted by the springs (5160), while the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) blocks the radial outward movement of the outer locking element (452) balls.

[0268] FIG. 32B shows the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved towards each other under an external force, such that the attachment tenons (450) are inserted into the attachment mortises (420). The top of the attachment tenons (450) contacts with and then pushes the internal locking piece (5140) further into the outer socket element (300), overcoming the force generated by the springs (5170). As a result, the surfaces (5143) of the internal locking pieces (5140) are no longer in contact with the outer locking element (452) balls. Instead, the outer surface of the attachment tenons (450) are in contact with the outer locking element (452) balls and preventing them from protruding too much from the inner end of the holes (5125).

[0269] FIG. 32C shows the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved closer towards each other under an external force until that the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking element (452) balls. As a result, the outer locking element (452) balls move radially inwards and fall into the locking grooves (451 ) and no longer protruding form the outer end of the holes (5125). So that the conical step (5132) of the lifting locking sleeve (5130) is no longer caught by the outer locking element(452) balls. As such, underthe force ofthe springs (5160), the lifting locking sleeve (5130) moves towards the outer header element (200) until it is stopped by the external rim (5124) on the outer socket bottom block (5120). At this point, the internal surface (5133) above the conical step (5132) the conical step (5132) ofthe lifting locking sleeve (5130) becomes in contact with the outer locking element (452) balls, preventing them from moving radially outward. As a result, the attachment tenons (450) are locked in place by the outer locking element (452) balls at the lockingNexera Corp.grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). The external force that pushes the outer socket element (300) and the outer header element (200) together can be removed. Notice that at this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) creates a seal between them. Also notice that the central sealing elements (305) are also in contact with the header side central sealing surface (221 ) on the outer header element (200), creating a seal.

[0270] In the embodiment shown in FIG. 27 to FIG. 32C, the method of detaching the outer header element (200) from the outer socket element (300) involves a single linear motion between the lifting locking sleeve (5130) and the outer socket top block (5110). The processes are detailed below.

[0271] Firstly, the lifting locking sleeve (5130) can be moved away from the outer header element (200), for example by lifting the external rim (5136). The movement of the lifting locking sleeve (5130) exposes the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) to the outer locking element (452) balls, allowing the latter to move radially outwards under the radial force exerted by slanted top surface of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (5170). As a result, the outer locking element (452) balls are no longer protruding much from the internal end of the holes (5125) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) is then pushed out by the internal locking pieces (5140), and the outer socket element (300) returns to the idle state as in FIG. 32A. As such the outer header element (200) is detached from the outer socket element (300).Outer Attachment Interface 2 - Tangential Ball Lock with Rotating Sleeve

[0272] According to the disclosure, A further clip an outer attachment interface (400) in the form of a tangential ball lock with rotating sleeve mechanism (6000) is shown in FIG. 33 to FIG. 36C. In these embodiments, the outer attachment interface (400) is in the form of a tangential ball lock with rotating sleeve mechanism (6000).

[0273] FIG. 33 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). Deformable membrane (100) and outer suction cup (850) attached.Nexera Corp.

[0274] FIG. 34A is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). FIG. 34B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). FIG. 34C is a diagram illustrating unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0275] FIG. 35 is a diagram illustrating exploded views of an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0276] FIG. 36A is a diagram illustrating Stage 1 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). FIG. 36B is a diagram illustrating Stage 2 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000). FIG. 36C is a diagram illustrating Stage 3 of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a tangential ball lock with rotating sleeve mechanism (6000).

[0277] In the embodiment shown in FIG. 33 to FIG. 36C, the outer header element (200) with the header side outer attachment interface (440) in the form of a tangential ball lock with rotating sleeve mechanism (6000) is shown in FIG. 33 and FIG. 36Ato FIG. 36C.

[0278] According to the disclosure, the header side outer attachment interface (440) in the form of a tangential ball lock with rotating sleeve mechanism (6000) as shown in FIG. 33 comprises the attachment tenons (450) on the outer header main body (6220). Each of such attachment tenons (450) comprises a locking groove (451 ) configured to engage with an outer locking element (452) on the outer socket element (300). In this embodiment, the outer locking element (452) is in the form of a ball. The difference between the outer header element (200) in FIG. 33 and the outer header element (200) in FIG. 27 is only that the outer header main body (6220) is used in FIG. 33, whilst the outer header main body (5220) is used in FIG. 27. Specifically, the locking grooves (451 ) on the attachment tenons (450) areNexera Corp.facing radially outwards in the outer header element (200) in FIG. 27, but they are facing tangentially in FIG. 33.

[0279] In this embodiment shown in FIG. 33 to FIG. 36C, the outer suction cup (850) is attached to the outer header element (200), and the deformable membrane (100) can be installed in the process in the same way as that shown in FIG. 29A to FIG. 30B.

[0280] In the embodiment shown in FIG. 33 to FIG. 36C, the outer socket element (300) with the header side outer attachment interface (410) in the form of a tangential ball lock with rotating sleeve mechanism (6000) is shown in FIG. 34Ato FIG. 35.

[0281] The outer socket element (300) with the header side outer attachment interface (410) in the form of a tangential ball lock with rotating sleeve mechanism (6000) comprises: an outer socket top block (6110), an outer socket bottom block (6120), a rotating locking sleeve (6130), at least one internal locking piece (6140), at least one external locking piece (6180), and at least one outer locking element (452).

[0282] In addition, to facilitate the smooth operation of the outer attachment interface (410), the outer socket element (300) with the header side outer attachment interface (410) in the form of a tangential ball lock with rotating sleeve mechanism (6000) may further comprise guide shafts (6150) and springs (6160) for the external locking piece (6180), and springs (6170) forthe internal locking pieces (6140).

[0283] The outer socket bottom block (6120) further comprises pockets (6121 ) in which the internal locking pieces (6140) can move along the axial direction of the outer socket bottom block (6120). A groove (6122) is made on a side surface of each pocket (6121 ) to accept a ridge (6141 ) on the internal locking piece (6140). The groove (6122) terminates shortly before the opening of the pocket (6121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limiting the axial movement of the internal locking piece (6140), preventing it from falling out.

[0284] The outer socket bottom block (6120) further comprises recesses (6123) to accommodate the external locking piece (6180), allowing the external locking piece (6180) to move along the axial direction of the outer socket bottom block (6120).

[0285] The outer socket bottom block (6120) further comprises holes (6125) to accommodate the outer locking elements (452). In the embodiment shown in FIG. 33 to FIG.36C, the outer locking elements (452) are balls and the holes (6125) are conical with theNexera Corp.bigger end facing the external locking piece (6180), and the depth of the holes (6125) is smaller than the diameter of the outer locking element (452) balls so that the outer locking element (452) balls can protrude out of either one or both ends of the holes (6125).

[0286] The outer socket top block (6110) comprises recesses (6111 ) that align with the recesses (6123) on the outer socket bottom block (6120) to accommodate the external locking pieces (6180), allowing the external locking pieces (6180) to move along the axial direction of the outer socket bottom block (6120) and the end surface of the recesses (6111 ) limits the range of movement of the external locking pieces (6180).

[0287] The external locking pieces (6180) further comprises a slanted step (6182) on its side that faces the outer locking element (452) ball, and configured to catch on the outer locking element (452) balls if they are protruding from the outer end of the holes (6125), preventing the external locking pieces (6180) from moving further towards the outer header element (200). The slanted step (6182) also exerts a tangential force to the outer locking element (452) balls toward the internal locking pieces (6140) when catching on the outer locking element (452) balls. The surface (6183) above the slanted step (6182) and the surface (6184) below the slanted step (6182) of the external locking pieces (6180) are configured to block the tangential outward movement of the outer locking element (452) balls.

[0288] The external locking pieces (6180) may further comprise holes (6135) configured to accommodate the guide shafts (6150), so that the guide shafts (6150) can guide the movement of the external locking pieces (6180) along the axial direction of the outer socket element (300). The ends of the guide shafts (6150) are let into recesses on the outer socket top block (6110) and outer socket bottom block (6120). Springs (6160) are placed between the external locking pieces (6180) and the outer socket top block (6110) to provide an axial preload force on the external locking pieces (6180) towards the direction of the outer header element (200).

[0289] As shown in FIG. 34C and FIG. 35, The external locking pieces (6180) further comprises a cam follower (6181 ) on its outward facing side, and it is configured to follow a cam surface (6132) on the rotating locking sleeve (6130).

[0290] As shown in FIG. 34C and FIG. 35, The rotating locking sleeve (6130) further comprises one or more cam recesses (6131 ) on its inward facing side. Each cam recess (6131 ) has a cam surface (6132) on the side closer to the outer header element (200), a camNexera Corp.starting side (6133) and a cam ending side (6134). As the rotating locking sleeve (6130) is rotated, the cam follower (6181 ) slides along the cam surface (6132) between the cam starting side (6133) and the cam ending side (6134), with its distance from the outer header element (200) at the smallest when the cam follower (6181 ) is at the cam starting side (6133), and at the biggest when the cam follower (6181 ) is at the cam ending side (6134). As such, the external locking pieces (6180) can be brought closer or further away form the side of the outer header element (200) by rotating the rotating locking sleeve (6130).

[0291] Each internal locking piece (6140) further comprising a slanted step (6142) configured to catch on the outer locking element (452) balls if they are protruding from the inner end of the holes (6125), preventing the internal locking piece (6140) from moving further towards the outer header element (200) and falling out from an attachment mortise (420). The slanted step (6142) also exerts an outward tangential force to the outer locking element (452) balls when catching on the outer locking element (452) balls. The surface (6143) below the slanted step (6142) of the internal locking piece (6140) is configured to block the tangential inward movement of the outer locking element (452) balls.

[0292] A spring (6170) is installed between each internal locking piece (6140) and the outer socket top block (6110) to provide an axial preload force on the internal locking piece (6140) towards the direction of the outer header element (200).

[0293] The outer socket top block (6110) and the outer socket bottom block (6120) further comprises one or more outer fluid socket passages (310), connecting the socket fluid passage entry ports (303) to the fluid passage sockets (311 ).

[0294] In the embodiment shown in FIG. 33 to FIG. 36C, the method of attaching the outer header element (200) to the outer socket element (300) involves a single linear relative motion between the two parts as shown in FIG. 36A to FIG. 36C. The processes are detailed below.

[0295] As shown in FIG. 36A, the first stage of attaching the outer header element (200) to the outer socket element (300). The rotating locking sleeve (6130) is at an angular position that the cam follower (6181 ) on the external locking pieces (6180) is at the cam starting side (6133) of the cam recesses (6131). The outer socket element (300) is in an idle state where the internal locking pieces (6140) are in the lowest position with the end of their ridges (6141 ) sitting at the lower end of the grooves (6122) on the outer socket bottom block (6120). As such, the surfaces (6143) of the internal locking pieces (6140) are in contact withNexera Corp.the outer locking element (452) balls, preventing them from protruding too much from the inner end of the holes (6125). As a result, the outer locking element (452) balls are protruding from the outer end of the holes (6125) and catching the slanted step (6182) of the external locking pieces (6180), preventing the external locking pieces (6180) from moving towards the outer header element (200) under the force exerted by the springs (6160), while the internal surface (6184) below the slanted step (6182) of the external locking pieces (6180) blocks the tangential outward movement of the outer locking element (452) balls.

[0296] As shown in FIG. 32B, the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved towards each other under an external force, such that the attachment tenons (450) are inserted into the attachment mortises (420). The top surface of the attachment tenons (450) contacts with and then pushes the internal locking piece (6140) further into the outer socket element (300), overcoming the force generated by the springs (6170). As a result, the surfaces (6143) of the internal locking pieces (6140) are no longer in contact with the outer locking element (452) balls. Instead, the top part of the side surface of the attachment tenons (450) with the locking groove (451 ) are in contact with the outer locking element (452) balls and prevent them from protruding too much from the inner end of the holes (6125).

[0297] As shown in FIG. 36C, the third stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved closer towards each other under an external force until the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking element (452) balls. As a result, the outer locking element (452) balls move tangentially towards and then fall into the locking grooves (451 ) and no longer protruding from the outer end of the holes (6125). So that the slanted step (6182) of external locking pieces (6180) is no longer caught by the outer locking element (452) balls. As such, under the force of the springs (6160), the external locking pieces (6180) move towards the outer header element (200) until it is stopped by the bottom of the recesses (6123) on the outer socket bottom block (6120). At this point, the internal surface (6183) above the slanted step (6182) of the external locking pieces (6180) becomes in contact with the outer locking element (452) balls, preventing them from moving tangentially outward. As a result, the attachment tenons (450) are locked in place by the outer locking element (452) balls at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket elementNexera Corp.(300). The external force that pushes the outer socket element (300) and the outer header element (200) together can be removed. Notice that at this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) create a seal between them. Also notice that the central sealing elements (305) are also in contact with the header side central sealing surface (221 ) on the outer header element (200), creating a seal.

[0298] In the embodiment shown in FIG. 33 to FIG. 36C, the method of detaching the outer header element (200) from the outer socket element (300) involves a single rotation of the rotating locking sleeve (6130) relative to the outer socket top block (6110). Then the rotating locking sleeve (6130) can be rotated back to reset the outer socket element (300) back to the idle state. The processes are detailed below.

[0299] Rotate the rotating locking sleeve (6130) relative to the outer socket top block (6110) so that the cam follower (6181 ) slides along the cam surface (6132) from the cam starting side (6133) to the cam ending side (6134). Underthe guidance of the cam surface (6132), the external locking pieces (6180) is moved away from the outer header element (200), overcoming the force of the spring (6160). The movement of the external locking pieces (6180) exposes the surface (6184) below the slanted step (6182) of the external locking pieces (6180) to the outer locking element (452) balls, allowing the latter to move tangentially outwards towards the external locking pieces (6180) under the tangential force exerted by the slanted top surface of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (6170). As a result, the outer locking element (452) balls are no longer protruding much from the end of the holes (6125) that faces the attachment tenons (450) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) is then pushed out by the internal locking pieces (6140). As such the outer header element (200) is detached from the outer socket element (300). Finally, rotate the rotating locking sleeve (6130) back such that the cam follower (6181 ) is returned to the cam starting side (6133), and the outer socket element (300) is now returned to the idle state as in FIG. 32A.Clip Outer Attachment Interface 3 - Radial Ball Lock with Rotating Sleeve

[0300] According to the disclosure, an outer attachment interface (400) in the form of a radial ball lock with rotating sleeve mechanism (7000) is shown in FIG. 37 to FIG. 42C.Nexera Corp.

[0301] FIG. 37 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). Deformable membrane (100) and outer suction cup (850) attached.

[0302] FIG. 38A is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 38B is a diagram illustrating a section view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0303] FIG. 39A is a diagram illustrating an unlocked state of unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 39B is a diagram illustrating a locked state of unlocking cam in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 39C is a diagram illustrating a transition step of the unlocking process wherein the unlocking cam is in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 39D is a diagram illustrating the end of the unlocking process wherein Unlocking cam is in an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0304] FIG. 40 is a diagram illustrating an exploded view of an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0305] FIG. 41 A is a diagram illustrating the before stage of a process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 41 B is a diagram illustrating the after stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0306] FIG. 42A is a diagram illustrating Stage 1 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000). FIG. 42B is a diagram illustrating Stage 2 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock withNexera Corp.rotating sleeve mechanism (7000). FIG. 42C is a diagram illustrating Stage 3 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a radial ball lock with rotating sleeve mechanism (7000).

[0307] In the embodiments shown in FIG. 37 to FIG. 42C, the outer header element (200) with the header side outer attachment interface (440) in the form of a radial ball lock with rotating sleeve mechanism (7000) is shown in FIG. 37 and FIG. 41 Ato FIG. 42C.

[0308] The header side outer attachment interface (440) in the form of a radial ball lock with rotating sleeve mechanism (7000) as shown in FIG. 37 comprises the attachment tenons (450) on the outer header main body (7220). Each of such attachment tenons (450) comprises a locking groove (451 ) configured to engage with an outer locking element (452) on the outer socket element (300). In this embodiment, the outer locking element (452) is in the form of a ball. The difference between the outer header element (200) in FIG. 37 and the outer header element (200) in FIG. 27 is only that the outer header main body (7220) is used in FIG. 33, whilst the outer header main body (5220) is used in FIG. 27. Specifically, the attachment tenons (450) in the outer header element (200) in FIG. 27 are thicker in the radial direction, but attachment tenons (450) in the outer header element (200) in FIG. 37 are thinner in the radial direction to make space forthe external locking pieces (6180) without increasing the external diameter of the outer header element (200) orthe outer socket element (300).

[0309] In this embodiment shown in FIG. 37 to FIG. 42C, the outer suction cup (850) is attached to the outer header element (200), and the deformable membrane (100) can be installed in the process in the same way as that shown in FIG. 29A to FIG. 30B.

[0310] In the embodiments shown in FIG. 37 to FIG. 42C, the outer socket element (300) with the header side outer attachment interface (410) in the form of a radial ball lock with rotating sleeve mechanism (7000) is shown in FIG. 38A to FIG. 42C.

[0311] The outer socket element (300) with the header side outer attachment interface (410) in the form of a radial ball lock with rotating sleeve mechanism (7000) comprises: an outer socket top block (7110), an outer socket bottom block (7120), a rotating locking sleeve (7130), at least one internal locking piece (7140), at least one external locking piece (7180), and at least one outer locking element (452).Nexera Corp.

[0312] In addition, to facilitate the smooth operation of the outer attachment interface (410), the outer socket element (300) with the header side outer attachment interface (410) in the form of a radial ball lock with rotating sleeve mechanism (7000) may further comprise guide shafts (7150) and springs (7160) for the external locking piece (7180), and springs (7170) for the internal locking pieces (7140).

[0313] The outer socket bottom block (7120) further comprises pockets (7121 ) in which the internal locking pieces (7140) can move along the axial direction of the outer socket bottom block (7120). A groove (7122) is made on a side surface of each pocket (7121 ) to accept a ridge (7141) on the internal locking piece (7140). The groove (7122) terminates shortly before the opening of the pocket (7121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limiting the axial movement of the internal locking piece (7140), preventing it from falling out.

[0314] The outer socket bottom block (7120) further comprises recesses (7123) to accommodate the external locking piece (7180), allowing the external locking piece (7180) to move along the axial direction of the outer socket bottom block (7120).

[0315] The outer socket bottom block (7120) further comprises holes (7125) to accommodate the outer locking elements (452). In the embodiment shown in FIG. 37 to FIG.42C, the outer locking elements (452) are balls and the holes (7125) are conical with the bigger end facing the external locking piece (7180), and the depth of the holes (7125) is smaller than the diameter of the outer locking element (452) balls so that the outer locking element (452) balls can protrude out of either one or both ends of the holes (7125).

[0316] The outer socket top block (7110) comprises recesses (7111 ) that align with the recesses (7123) on the outer socket bottom block (7120) to accommodate the external locking pieces (7180), allowing the external locking pieces (7180) to move along the axial direction of the outer socket bottom block (7120) and the end surface of the recesses (7111) limits the range of movement of the external locking pieces (7180).

[0317] The external locking pieces (7180) further comprises a slanted step (7182) on its inward facing side and configured to catch the outer locking element (452) balls if they are protruding from the outer end of the holes (7125), preventing the external locking pieces (7180) from moving further towards the outer header element (200). The slanted step (7182) also exerts a tangential force to the outer locking element (452) balls toward the internal locking pieces (7140) when catching on the outer locking element (452) balls. The surfaceNexera Corp.(7183) above the slanted step (7182) and the surface (7184) below the slanted step (7182) of the external locking pieces (7180) are configured to block the radial outward movement of the outer locking element (452) balls.

[0318] The external locking pieces (7180) may further comprise holes (7135) configured to accommodate the guide shafts (7150), so that the guide shafts (7150) can guide the movement of the external locking pieces (7180) along the axial direction of the outer socket element (300). The ends of the guide shafts (7150) are let into recesses on the outer socket top block (7110) and outer socket bottom block (7120). Springs (7160) are placed between the external locking pieces (7180) and the outer socket top block (7110) to provide an axial preload force on the external locking pieces (7180) towards the direction of the outer header element (200).

[0319] As shown in FIG. 39A and FIG. 40, The external locking pieces (7180) further comprises a cam follower (7181) on its outward facing side, and it is configured to follow a cam surface (7132) on the rotating locking sleeve (7130).

[0320] As shown in FIG. 39A and FIG. 40, The rotating locking sleeve (7130) further comprises one or more cam recesses (7131 ) on its inward facing side. Each cam recess (7131 ) has a cam surface (7132) on the side closer to the outer header element (200), a cam starting side (7133) and a cam ending side (7134). As the rotating locking sleeve (7130) is rotated, the cam follower (7181 ) slides along the cam surface (7132) between the cam starting side (7133) and the cam ending side (7134), with its distance from the outer header element (200) at the smallest when the cam follower (7181 ) is at the cam starting side (7133), and at the biggest when the cam follower (7181 ) is at the cam ending side (7134). As such, the external locking pieces (7180) can be brought closer or further away from the side of the outer header element (200) by rotating the rotating locking sleeve (7130).

[0321] Each internal locking piece (7140) further comprising a slanted step (7142) configured to catch on the outer locking element (452) balls if they are protruding from the inner end of the holes (7125), preventing the internal locking piece (7140) from moving further towards the outer header element (200) and falling out from an attachment mortise (420). The slanted step (7142) also exerts an outward radial force to the outer locking element (452) balls when catching on the outer locking element (452) balls. The surface (7143) below the slanted step (7142) of the internal locking piece (7140) is configured to block the radial inward movement of the outer locking element (452) balls.Nexera Corp.

[0322] A spring (7170) is installed between each internal locking piece (7140) and the outer socket top block (7110) to provide an axial preload force on the internal locking piece (7140) towards the direction of the outer header element (200).

[0323] The outer socket top block (7110) and the outer socket bottom block (7120) further comprises one or more outer fluid socket passages (310), connecting the socket fluid passage entry ports (303) to the fluid passage sockets (311 ).

[0324] In the embodiments shown in FIG. 37 to FIG. 42C, the method of attaching the outer header element (200) to the outer socket element (300) involves a single linear relative motion between the two parts as shown in FIG. 41 A to FIG. 42C. The processes are detailed below.

[0325] FIG. 41 A and FIG. 42A show the first stage of attaching the outer header element (200) to the outer socket element (300). The rotating locking sleeve (7130) is at an angular position that the cam follower (7181 ) on the external locking pieces (7180) is at the cam starting side (7133) of the cam recesses (7131). The outer socket element (300) is in an idle state where the internal locking pieces (7140) are in the lowest position with the end of their ridges (7141) sitting at the lower end of the grooves (7122) on the outer socket bottom block (7120). As such, the surfaces (7143) of the internal locking pieces (7140) are in contact with the outer locking element (452) balls, preventing them from protruding too much from the inner end of the holes (7125). As a result, the outer locking element (452) balls are protruding from the outer end of the holes (7125) and catching the slanted step (7182) of the external locking pieces (7180), preventing the external locking pieces (7180) from moving towards the outer header element (200) under the force exerted by the springs (7160), while the internal surface (7184) below the slanted step (7182) of the external locking pieces (7180) blocks the radial outward movement of the outer locking element (452) balls.

[0326] As shown in FIG. 42B, the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved towards each other under an external force, such that the attachment tenons (450) are inserted into the attachment mortises (420). The top of the attachment tenons (450) contacts with and then pushes the internal locking piece (7140) further into the outer socket element (300), overcoming the force generated by the springs (7170). As a result, the surfaces (7143) of the internal locking pieces (7140) are no longer inNexera Corp.contact with the outer locking element (452) balls. Instead, the top parts of the outward facing surfaces of the attachment tenons (450) with the locking groove (451 ) are in contact with the outer locking element (452) balls and preventing them from protruding too much from the inner end of the holes (7125).

[0327] As shown in FIG. 41 B and FIG. 42C, the third stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved closer towards each other under an external force until the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking element (452) balls. As a result, the outer locking element (452) balls move radially inward and then fall into the locking grooves (451 ) and no longer protruding from the outer end of the holes (7125). So that the slanted step (7182) of external locking pieces (7180) is no longer caught by the outer locking element (452) balls. As such, under the force of the springs (7160), the external locking pieces (7180) move towards the outer header element (200) until it is stopped by the bottom of the recesses (7123) on the outer socket bottom block (7120). At this point, the internal surface (7183) above the slanted step (7182) of the external locking pieces (7180) becomes in contact with the outer locking element (452) balls, preventing them from moving radially outward. As a result, the attachment tenons (450) are locked in place by the outer locking element (452) balls at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). The external force that pushes the outer socket element (300) and the outer header element (200) together can be removed. Notice that at this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) creates a seal between them. Also notice that the central sealing elements (305) are also in contact with the header side central sealing surface (221 ) on the outer header element (200), creating a seal.

[0328] In the embodiments shown in FIG. 37 to FIG. 42C, the method of detaching the outer header element (200) from the outer socket element (300) involves a single rotation of the rotating locking sleeve (7130) relative to the outer socket top block (7110). Then the rotating locking sleeve (7130) can be rotated back to reset the outer socket element (300) back to the idle state. The processes are detailed below.

[0329] Rotate the rotating locking sleeve (7130) relative to the outer socket top block (7110) so that the cam follower (7181 ) slides along the cam surface (7132) from the cam starting side (7133) to the cam ending side (7134). Underthe guidance of the cam surfaceNexera Corp.(7132), the external locking pieces (7180) are moved away from the outer header element (200), overcoming the force of the spring (7160). The movement of the external locking pieces (7180) exposes the surface (7184) below the slanted step (7182) of the external locking pieces (7180) to the outer locking element (452) balls, allowing the latter to move radially outward towards the external locking pieces (7180) under the radial force exerted by the slanted top surfaces of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (7170). As a result, the outer locking element (452) balls are no longer protruding much from the end of the holes (7125) that faces the attachment tenons (450) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) are then pushed out by the internal locking pieces (7140). As such the outer header element (200) is detached from the outer socket element (300). Finally, rotate the rotating locking sleeve (7130) back such that the cam follower (7181 ) is returned to the cam starting side (7133), and the outer socket element (300) is now returned to the idle state as in FIG. 42A.Outer Attachment Interface 4 - Bayonet Lock with Rotating Sleeve

[0330] According to the disclosure, an outer attachment interface(400) in the form of a bayonet lock with rotating sleeve mechanism (8000) is shown in FIG. 43 to FIG. 48B.

[0331] FIG. 43 is a diagram illustrating an outer header element (200) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). Deformable membrane (100) and outer suction cup (850) attached.

[0332] FIG. 44 is a diagram illustrating an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0333] FIG. 45 is a diagram illustrating an exploded view of an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0334] FIG. 46A is a diagram illustrating the before stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). FIG. 46B is a diagram illustrating the after stage of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).Nexera Corp.

[0335] FIG. 47A is a diagram illustrating Stage 1 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). FIG. 47B is a diagram illustrating Stage 2 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). FIG. 47C is a diagram illustrating Stage 3 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). FIG.47D is a diagram illustrating Stage 4 of the process of attaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0336] FIG. 48A is a diagram illustrating Stage 1 of the process of detaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000). FIG. 48B is a diagram illustrating Stage 2 of the process of detaching an outer header element (200) to an outer socket element (300) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000).

[0337] In the embodiments shown in FIG. 43 to FIG. 48B, the outer header element (200) with the header side outer attachment interface (440) in the form of a bayonet lock with rotating sleeve mechanism (8000) is shown in FIG. 43 and FIG. 46Ato FIG. 48B.

[0338] The header side outer attachment interface (440) in the form of a bayonet lock with rotating sleeve mechanism (8000) as shown in FIG. 43 comprises the attachment tenons (450) on the outer header main body (7220). Each of such attachment tenons (450) comprises a locking groove (451 ) configured to engage with a locking protrusion (8131 ) on the inward facing surface of a rotating locking sleeve (8130) and an unlocking cam surface (453) configured to engage with an unlocking protrusion (8132) on the inward facing surface of a rotating locking sleeve (8130). The difference between the outer header element (200) in FIG. 43 and the outer header element (200) in FIG. 27 is only that the outer header main body (8220) is used in FIG. 43, whilst the outer header main body (5220) is used in FIG. 27.Nexera Corp.

[0339] In the embodiments shown in FIG. 43 to FIG. 48B, the outer suction cup (850) is attached to the outer header element (200), and the deformable membrane (100) can be installed in the process in the same way as that shown in FIG. 29A to FIG. 30B.

[0340] In the embodiments shown in FIG. 43 to FIG. 48B, the outer socket element (300) with the header side outer attachment interface (410) in the form of a bayonet lock with rotating sleeve mechanism (8000) is shown in FIG. 44 to FIG. 48B.

[0341] The outer socket element (300) with the header side outer attachment interface (410) in the form of a bayonet lock with rotating sleeve mechanism (8000) comprises: an outer socket top block (8110), an outer socket bottom block (8120), and a rotating locking sleeve (8130).

[0342] The outer socket bottom block (8120) further comprises pockets (8121 ) directly inside of the attachment mortises (420) configured to accommodate the attachment tenons (450) on the outer header element (200). On the external surface of the outer socket bottom block (8120) at the pockets (8121) are two peripheral slots: one locking slot (8123) for accommodating the locking protrusion (8131 ) of the rotating locking sleeve (8130), allowing it to rotate with the rotating locking sleeve (8130), and one unlocking slot (8122) for accommodating the unlocking protrusion (8132) of the rotating locking sleeve (8130), allowing it to rotate with the rotating locking sleeve (8130). Rotating locking sleeve (8130) can take any angular position between an initial angular position (8124) and an end angular position (8125), where the initial angular position (8124) is reached by rotating the rotating locking sleeve (8130) clockwise to the end, and the end angular position (8125) is reached by rotating the rotating locking sleeve (8130) counterclockwise to the end. Both the unlocking slots (8122) and the locking slots (8123) should be deep enough to reach into the pockets (8121 ) on the outer socket bottom block (8120), such that the locking protrusions (8131 ) on the rotating locking sleeve (8130) can reach into and engage with the locking groove (451 ) on the attachment tenons (450), and the unlocking protrusions (8132) on the rotating locking sleeve (8130) can reach and engage with the unlocking cam surface (453) on the attachment tenons (450).

[0343] The outer socket top block (8110) and the outer socket bottom block (8120) further comprises one or more outer fluid socket passages (310), connecting the socket fluid passage entry ports (303) to the fluid passage sockets (311 ).Nexera Corp.

[0344] In the embodiments shown in FIG. 43 to FIG. 48B, the method of attaching the outer header element (200) to the outer socket element (300) involves a linear relative motion between the two parts and a rotation of the rotating locking sleeve (8130) relative to the outer socket bottom block (8120) as shown in FIG. 47A to FIG. 47C. The processes are detailed below.

[0345] As shown in FIG. 47A, the first stage of attaching the outer header element (200) to the outer socket element (300). Initially the outer socket element (300) is in an idle state where the rotating locking sleeve (8130) is at the initial angular position (8124) that it is reached by rotating clockwise to the end.

[0346] As shown in FIG. 47B, the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved towards each other under an external force, such that the attachment tenons (450) are inserted into the attachment mortises (420) up to the point that the unlocking cam surfaces (453) on the attachment tenons (450) touches the unlocking protrusion (8132) of the rotating locking sleeve (8130).

[0347] As shown in FIG. 47C, the second stage of attaching the outer header element (200) to the outer socket element (300). In this stage, the outer socket element (300) and the outer header element (200) are moved towards each other under an external force. Since the unlocking cam surfaces (453) on the attachment mortises (420) are slanted, they exert forces to the unlocking protrusion (8132) of the rotating locking sleeve (8130), forcing the rotating locking sleeve (8130) to rotate along the unlocking slots (8122) a bit, causing the locking protrusions (8131 ) of the rotating locking sleeve (8130) to also rotate along the locking slots (8123) and initially engage into the locking grooves (451 ) on the attachment tenons (450).

[0348] As shown in FIG. 47D, the fourth stage of attaching the outer header element (200) to the outer socket element (300). In this stage, an external moment is applied to the rotating locking sleeve (8130) to rotate it counterclockwise further to the end angular position (8125). As such the unlocking protrusion (8132) of the rotating locking sleeve (8130) is rotated away from the unlocking cam surfaces (453) on the attachment mortises (420), and the locking protrusions (8131 ) of the rotating locking sleeve (8130) slides fulling into the locking grooves (451 ) on the attachment tenons (450). As a result, the attachment tenons (450) are locked in place by the locking protrusions (8131 ) at the locking groovesNexera Corp.(451 ). And the outer header element (200) is attached to the outer socket element (300). The external force that pushes the outer socket element (300) and the outer header element (200) together and the external moment that rotates the rotating locking sleeve (8130) can be removed. Notice that at this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) creates a seal between them. Also notice that the central sealing elements (305) are also in contact with the header side central sealing surface (221 ) on the outer header element (200), creating a seal.

[0349] In the embodiment shown in FIG. 43 to FIG. 48B, the method of detaching the outer header element (200) from the outer socket element (300) involves a single rotation of the rotating locking sleeve (8130) relative to the outer socket top block (8110). The process is shown in FIG. 48A and FIG. 48B and is detailed below.

[0350] As shown in FIG. 48A, the first stage of detaching the outer header element (200) from the outer socket element (300). In this stage, an external moment is applied to the rotating locking sleeve (8130) to rotate it clockwise to the initial angular position (8124). As the rotating locking sleeve (8130) rotates, the locking protrusions (8131 ) on the rotating locking sleeve (8130) are rotated out of the locking grooves (451 ) on the attachment tenons (450), while the unlocking protrusions (8132) of the rotating locking sleeve (8130) are firstly rotated into contact with the unlocking cam surfaces (453) on the attachment tenons (450), and then as the rotation continues, the unlocking protrusions (8132) press against the unlocking cam surfaces (453) on the attachment mortises (420), pushing the outer header element (200).

[0351] As shown in FIG. 48A, the first stage of detaching the outer header element (200) from the outer socket element (300). In this stage, the rotating locking sleeve (8130) is rotated clockwise to the initial angular position (8124). The outer header element (200) is pushed out by the unlocking protrusions (8132) on the rotating locking sleeve (8130). As such the outer header element (200) is detached from the outer socket element (300). The external moment for rotating locking sleeve (8130) can be removed at this point.Example of a Complete Membrane Module

[0352] As shown in FIG. 49A and FIG. 49B shows a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) the same as those in FIG. 43 to FIG. 48B, and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) the same as those in FIG. 17A to FIG. 22.Nexera Corp.

[0353] FIG. 49A is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000). FIG. 49B is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000).A Complete Membrane Module Mounted to a Gripping Device

[0354] According to the disclosure, a complete membrane module mounted to a gripping device is disclosed in FIG. 50 to FIG. 52. As shown in FIG. 50 to FIG. 52, a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) the same as those in FIG. 43 to FIG. 48B, and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) the same as those in FIG. 17A to FIG. 22 mounted to a gripping device (900). Specifically, the outer socket element (300) is mounted to a component of the gripping device (900) referred to as a chamber (910) and the inner socket element (600) is mounted to a component of the gripper device (900) referred to as a shaft (920).

[0355] As can be seen in FIG. 50 to FIG. 52, a region of space (9100) is enclosed by the chamber (910), the shaft (920), and the deformable membrane (100), and this region of space is referred to as the chamber space (9100). The chamber space (9100) is filled with a medium and a chamber pressure mechanism (9650) is configured to control the pressure of the medium within the chamber space (9100).

[0356] According to the disclosure, the shaft (920) presents at least one opening, such that the shaft (920) is hollow or has one or multiple lumens of different size, shape or crosssections. The interior of the shaft (920) defines the shaft space (9200). Accordingly, the shaft space (9200) may be formed by a single hollow interior of the shaft (920), or by one or more lumens of varying size, shape, or cross-sectional geometry extending through the shaft (920). Regardless of the specific configuration of the shaft interior, the shaft space (9200) is in fluid communication with the inner socket fluid passage (610) and the inner header fluid passage (510), enabling the shaft space (9200) to be depressurized or pressurized by the shaft pressure mechanism.

[0357] The space within the shaft is referred to as the shaft space (9200) which is in fluid communication with the inner socket fluid passage (610) and the inner header fluid passageNexera Corp.(510). The shaft space (9200) can be depressurized or pressurized by a shaft pressure mechanism, thus creating a suction force or a repelling force at the inner suction cup (800) for grasping objects.

[0358] The outer socket fluid passage (310) and the outer header fluid passage (210) are in fluid communication with a fluid passage (9310) on the gripping device (900) and can be depressurized or pressurized by an outer suction cup pressure mechanism, thus creating a suction force or a repelling force at the outer suction cup (850) for grasping objects.

[0359] The chamber (910) can be actuated to move relative to the gripper framing structure (9590) by a chamber actuating mechanism (9641 ) comprising a fixed part (9643) and a movable part (9645).

[0360] The shaft (920) can be actuated to move relative to the gripper framing structure (9590) by a shaft actuating mechanism (9642) comprising a fixed part (9644) and a movable part (9646).

[0361] The movement of the chamber (910) and the shaft (920) can change the relative position between the outer header element (200) and the inner header element (500), hence deforming the deformable membrane (100) as in FIG. 2.Methods for Grasping Objects Using the Gripping Device

[0362] According to the disclosure, methods for grasping objects using the gripping device are shown in FIG. 50 to FIG. 52. As can be seen from FIG. 50 to FIG. 52, the inner suction cup (800), the deformable membrane (100) and the outer suction cup (850) can be used individually or in combinations to grasp objects.

[0363] FIG. 50 is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).

[0364] FIG. 51 is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).Nexera Corp.

[0365] FIG. 52 is a diagram illustrating a whole membrane module (10) with the outer attachment interface (400) being a bayonet lock with rotating sleeve mechanism (8000) and the inner attachment interface (700) being a preloaded bayonet mechanism (3000) as mounted to a gripping device (900).Method of Grasping Using Deformable Membrane and Inner Suction Cup (Membrane Mode)

[0366] According to the disclosure, a method of grasping using the deformable membrane (100) and the inner suction cup (800), also known as membrane mode is disclosed. The method of grasping an object using the gripper device (900) in FIG. 50 to FIG. 52 using both the deformable membrane (100) and the inner suction cup (800) involves the following steps below:- Initially, the chamber (910) is in a retracted state and the shaft (920) is in an extended state, so that when the gripping device is pointed towards the object to be grasped, the inner suction cup (800) is the closest to the object to be grasped. The chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a low positive pressure.- Move the gripper device (900) towards the object until the inner suction cup (800) or the deformable membrane (100) contact with the object.- On or before the inner suction cup (800) or the deformable membrane (100) contact with the object contact with the object, the shaft space (9200) is depressurized by the shaft pressure mechanism, creating a suction grasping force at the inner suction cup (800). - Then the chamber actuating mechanism (9641 ) moves the chamber (910), the shaft actuating mechanism (9642) moves the shaft (920), or both.- At the same time or after the last step, the chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a higher positive pressure.- The last two steps deform the deformable membrane (100) and causing it to contact and then conform to the object to be grasped.- The conformed deformable membrane (100) forms a seal between the object and the deformable membrane (100) or at least between the object and the inner suction cup (800). With the depressurization of the shaft space (9200) and the conformation of the deformable membrane (100) to the object, a grasping and attractive force, including suction, friction, and mechanical interlocking, towards the object is created for grasping the object.Nexera Corp.

[0367] According to the disclosure, notice that depending on the different properties of the object to be grasped, the actuation mechanisms (9641 and / or 9642) can move the chamber (910) and / or the shaft (920) to different positions relative to the framing structure (9590) and / or relative to each other, and the chamber pressure mechanism (9650) can pressurize the chamber space (9100) to different pressure set points to best grasp the object.

[0368] According to the disclosure, the gripping device (900) is configured to adapt at least one of a position of the chamber (910), a position of the shaft (920), and a pressure set point of the chamber pressure mechanism (9650) based on one or more properties of the object to be gripped. Such properties include, but are not limited to, the shape, size, weight, surface texture, and compliance of the object. For example, a heavier object may require a higher suction force, achieved by adjusting the pressure set point of the shaft pressure mechanism orthe chamber pressure mechanism (9650). An object with an irregular or rough surface texture may require a different membrane deformation profile, achieved by adjusting the position of the chamber (910) or the shaft (920). A highly compliant (soft) object may require a lower chamber pressure to avoid deformation or damage. The gripping device (900) may further comprise a controller (9850) configured to receive information about one or more of said object properties, for example from a detection device (9900) such as a camera, a force sensor, or a weight sensor, and to automatically control at least one of the chamber pressure mechanism (9650), the shaft pressure mechanism, the chamber actuating mechanism (9641 ), and the shaft actuating mechanism (9642) based on the received information.

[0369] For example, when grasping a hard and flat object, the actuation mechanisms (9641 and / or 9642) should move the chamber (910) and the shaft (920) to positions such that the inner suction cup (800) and the deformable membrane (100) is not pulled inside the chamber (910) by too much, therefore the gripping device (900) will not ingest the item. But when grasping a soft item like a bag, it is desirable to use the actuation mechanisms (9641 and / or 9642) to move the chamber (910) and the shaft (920) to positions such that the inner suction cup (800) and part of the deformable membrane (700) are pulled more inside the chamber (910), such that part of the soft object get pulled inside the chamber (910) to establish a better grasp.Method of Grasping Using Only the Inner Suction Cup (Suction Cup Mode)Nexera Corp.

[0370] According to the disclosure, a method of grasping only using the inner suction cup (800), also known as suction cup mode is disclosed. The method of grasping an object using the gripper device (900) in FIG. 50 to FIG. 52 using the inner suction cup (800) only involves the following steps:- Initially, the chamber (910) is in a retracted state and the shaft (920) is in an extended state, so that when the gripping device is pointed towards the object to be grasped, the inner suction cup (800) is the closest to the object to be grasped. The chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a low positive pressure.- In the first step, we need to prevent the deformable membrane (100) form interfering the operation of the inner suction cup (800) by bringing it as far away from the object to be grasped as possible. This is done as follows: use the shaft actuating mechanism (9642) to fully extend the shaft (920) relative to the framing structure (9590), use the chamber actuating mechanism (9641 ) to fully retract the chamber (910) relative to the framing structure (9590), use the chamber pressure mechanism (9650) to control the pressure inside the chamber space (9100) to be equal to that of the environment so that the deformable membrane (100) is not inflated.- Then, the gripping device (900) is moved towards the object to be grasped until the inner suction cup (800) contacts with the object.- On or before the inner suction cup (800) contacts with the object contact with the object, the shaft space (9200) is depressurized by the shaft pressure mechanism, creating a suction grasping force at the inner suction cup (800).- The suction grasping force causes the inner suction cup (800) to grasp the object.Method of Grasping Using the Outer Suction Cup (Rim Cup Mode)

[0371] According to the disclosure, a method of grasping using only the outer suction cup (850), also known as rim cup mode is disclosed. For large and relatively flat objects, a method of grasping that uses the outer suction cup (850) and may / may not use the inner suction cup (800) and the deformable membrane (100) can be used as follows:Initially, the chamber (910) is in a retracted state and the shaft (920) is in an extended state, so that when the gripping device is pointed towards the object to be grasped, the inner suction cup (800) is the closest to the object to be grasped. The chamber spaceNexera Corp.(9100) is pressurized by the chamber pressure mechanism (9650) to a low positive pressure.- Firstly, depressurize the chamber space (9100) by the chamber pressure mechanism (9650) so that the deformable membrane (100) is sucked fully inside the chamber (910). - Then use the chamber actuating mechanism (9641 ) to fully extend the chamber (910) relative to the framing structure (9590) and use the shaft actuating mechanism (9642) to retract the shaft (920) until that the outer suction cup (850) is closer to the object to be grasped than the inner suction cup (800).- Before, during or after the previous steps, the shaft pressure mechanism is activated to depressurize the shaft space (9200). The outer suction cup pressure mechanism is also activated to depressurize the fluid passages (9310, 310, and 320), creating a suction air flow at the outer suction cup (850).- Finally, the gripping device is moved towards the object to be grasped until the outer suction cup (850) contacts the object and forms a seal. The depressurization due to the shaft pressure mechanism and the outer suction cup pressure mechanism provides a grasping and attractive force towards the object.Further Considerations

[0372] The chamber space (9100) is at least partially filled with a medium. The medium can be compressible fluid, such as air or other gas, or incompressible fluid, such as water or other liquid. As such the medium directly touches the chamber (910), the shaft (920) and the membrane module (10). The chamber space (9100) is in fluid connection with a chamber pressure mechanism (9650). The chamber pressure mechanism (9650) is configured to control the pressure of the medium within the chamber space (9100).

[0373] Also notice that if the deformable membrane (100) and the inner suction cup (800) are simultaneously in contact with the object, and the chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a positive pressure, and the shaft space (9200) is depressurized by the shaft pressure mechanism to a negative pressure, then the positive pressure in the chamber space (9100) will press the deformable membrane (100) against the object to maximize the contact surface area of the deformable membrane (100) with the surface of the object, therefore maximizing friction and could form at least a partial seal if the object is non-porous. Also, the negative pressure in the shaft space (9200) creates a suction force at the inner suction cup (800) against the object. Now if the deformable membrane (100) forms at least a partial seal with the object, the negative pressure of theNexera Corp.shaft space (9200) may extend to the at least partial seal the deformable membrane (100) forms with the object, increasing the area of suction and thus creating a bigger suction force to help grasp the object.

[0374] According to the disclosure a gripping device is disclosed. The gripping device (900) comprises a chamber (910) (i.e., chamber and shaft), wherein the chamber (910) comprises an opening, wherein the chamber (910) further comprises one or more fluid passages (9310), a shaft (920) wherein the chamber (910) further comprises a hole (9511 ) allowing the shaft (920) to pass through and move relative to the chamber (910), a gripper framing structure (9590) (i.e., framing structure and actuators), a chamber actuating mechanism (9641 ) configured to move the chamber (910) relative to the gripper framing structure (9590), a shaft actuating mechanism (9642) configured to move the shaft (920) relative to the gripper framing structure (9590), a membrane module (10) attached to the edge of the opening of the chamber (910) and the end of the shaft (920).

[0375] According to the disclosure, the chamber (910), the shaft (920), and the membrane module (10) delimits a region of space referred to as the chamber space (9100). The chamber space (9100) is at least partially filled in with a medium. The chamber pressure mechanism (9650) is in fluid communication with the chamber space (9100) which is configured to at least pressurize the chamber space, The shaft (920) presents at least one opening, such that the shaft is hollow or has one or multiple lumens of different size, shape or cross-sections where the shaft (920) delimits a region of space referred to as the shaft space (9200). The gripping device further comprising a shaft pressure mechanism in fluid communication with the shaft space (9200) and is configured to at least depressurize the shaft space.

[0376] According to the disclosure, the gripping device further comprises a membrane module. The membrane module further comprises a deformable membrane (100) in the form of an open surface with an outer edge (101 ) and with at least one hole which defines an inner edge (102), an outer header element (200), to which the outer edge (101 ) of the deformable membrane (100) is attached, an outer socket element (300). The outer socket element (300) is attached to the chamber (910). The outer header element (200) can be attached to or detached from the outer socket element (300).

[0377] The outer header element (200) comprises one or more outer header fluid passages (210). The outer socket element (200) comprises one or more outer socket fluidNexera Corp.passages (310). When the outer header element (200) is attached to the outer socket element (300), each of the one or more outer header fluid passages (210) form a hermetic fluid connection with one of the one or more outer fluid socket passages (310). The one or more outer fluid socket passages (310) are in fluid communication with the one or more fluid passages (9310) on the chamber (910).

[0378] According to the disclosure, the membrane module further an inner header element (500), to which the inner edge (102) of the deformable membrane (100) is attached and an inner socket element (600). The inner socket element (600) is attached to the end of the shaft (920). The inner header element (500) can be attached to or detached from the inner socket element (600). The inner header element (500) comprises one or more inner header fluid passage (510).

[0379] According to the disclosure, the inner socket element (600) comprises one or more inner socket fluid passages (610). When the inner header element (500) is attached to the inner socket element (600), each of the one or more inner header fluid passages (510) form a hermetic fluid connection with one of the one or more inner socket fluid passages (610). The inner socket fluid passage (610) is in fluid communication with the shaft space (9200).

[0380] According to the disclosure, the gripping device (900) further comprises an inner suction cup (800) (i.e., shaft cup) configured to form a seal against an object to be grasped, such that if the inner header fluid passage (510) is depressurized, a suction force against the object can be better created to help grasp the object. The component to which the inner suction cup (800) is attached is selected from a list consisting of the end of the inner header element (500) and the inner socket element (600).

[0381] According to the disclosure, the gripping device (900) further comprises an outer suction cup (850) (i.e., rim cup) on its outer perimeter configured to form a seal against a large object to be grasped, such that if the inner header fluid passage (510), the outer header fluid passage (210), or both the inner header fluid passage (510) and the outer header fluid passage (210) are depressurized, a suction force against the large object can be better created to help grasp the large object. The outer suction cup (850) is configured to surround the membrane module (10). The component to which the outer suction cup (850) is attached is selected from a list consisting of the outer header element (200) and the outer socket element (300).Nexera Corp.

[0382] According to the disclosure, the gripping device (900) further comprises an inner suction cup (800) (i.e., shaft cup and rim cup) configured to form a seal against an object to be grasped, such that if the inner header fluid passage (510) is depressurized, a suction force against the object can be better created to help grasp the object. The component to which the inner suction cup (800) is attached is selected from a list consisting of the end of the inner header element (500) and the inner socket element (600).

[0383] According to the disclosure, the gripping device (900) further comprises a stopper element (810) configured to prevent the deformable membrane (100) from deforming to an extent that it blocks the inner header fluid passage (510) or gets sucked into the inner header fluid passage (510). The component to which the stopper element (810) is attached is selected from a list consisting of the inner header element (500) and the inner socket element (600).

[0384] According to the disclosure, the gripping device (900) further comprises a stopper element (810) configured to prevent the deformable membrane (100) from deforming to an extent that it blocks the inner header fluid passage (510) or gets sucked into the inner header fluid passage (510) and to prevent the inner suction cup (800) from deforming to an extent that it blocks the opening (511 ) of the inner header fluid passage (510). The component to which the stopper element (810) is attached is selected from a list consisting of the inner header element (500), the inner socket element (600) and the inner suction cup (800).

[0385] According to the disclosure, the gripping device (900) has an inner attachment interface (i.e., a radial ball lock mechanism) wherein the inner header element (500) can be attached to or detached from the inner socket element (600) through an inner attachment interface (700) in the form of a radial ball lock mechanism (1000). The inner header element (500) comprises a header side inner attachment interface (740). The inner socket element (600) comprises a socket side inner attachment interface (710). The header side inner attachment interface (740) comprises a core (1101 ) with a locking groove (1102) around it.

[0386] According to the disclosure, the socket side inner attachment interface (710) comprises an inner socket body (1001 ), at least one locking element (1006), an inner locking sleeve (1002), an outer locking sleeve (1003), at least one unlocking lever (1004), one or more spring (1010) applying a pushing force to the inner locking sleeve (1002) in the direction towards the inner header element (500), one or more spring (1011 ) applying aNexera Corp.pushing force to the outer locking sleeve (1003) in the direction towards the inner header element (500). The locking groove (1102) is to be engaged with the locking element (1006).

[0387] According to the disclosure, the inner socket body (1001 ) forms the supporting structure of the inner socket element (600) and further comprises at least one inner socket fluid passage (610) passes through, at least one through hole (1005) on the wall of the inner socket body (1001 ) penetrating from the outside of the inner socket body (1001 ) to the inner socket fluid passage (610) for accommodating the locking element (1006). The depth of the through hole (1005) is smaller than the diameter of the locking element (1006) so that the locking element (1006) can protrude outside the inner socket body (1001 ) or protrude into the inner socket fluid passage (610) or both and at least an axle (1040) around which the unlocking lever (1004) pivots.

[0388] According to the disclosure, the inner locking sleeve (1002) can slide along the inner socket fluid passage (610), further comprising a step (1007) on the external surface configured to catch on the locking element (1006) protruding into the inner socket fluid passage (610). The outer locking sleeve (1003) can slide along the external surface of the inner socket body (1001 ), further comprising a conical step (1008) on the inner surface configured to catch on the locking element (1006) protruding out of the inner socket body (1001 ). The unlocking lever (1004) comprises an outer end (1041 ) and an inner end surface (1042), wherein the inner end surface (1042) may or may not protrude into the inner socket fluid passage (610) dependent on the pivoting state of the unlocking lever (1004), and wherein the outer end (1041 ) is configured to push against a protrusion (1020) on the outer locking sleeve (1003), causing the outer locking sleeve (1003) to move in the direction that compresses the spring (1011) and away from the inner header element (500).

[0389] According to the disclosure, the method for attaching the inner header element (500) to the inner socket element (600) further comprises align the header element (500) to the inner socket element (600), push the header element (500) into the inner socket element (600) until the header element (500) contacts the inner locking sleeve (1002), continue to push the header element (500) into the inner socket element (600), thus pushing the inner locking sleeve (1002) further into the inner socket element (600) and the step (1007) no longer catches on the locking element (1006) protruding into the inner socket fluid passage (610), compressing the spring (1010), continue to push the header element (500) into the inner socket element (600) until the locking groove (1102) is exposed to the locking element (1006), the locking element (1006) falls into the locking groove (1102), thus not protrudingNexera Corp.on the outside of the inner socket body (1001 ) anymore, and so the conical step (1008) on the outer locking sleeve (1003) is not caught by the locking element (1006) anymore and slide towards the inner header element (500) until it is stopped by the outer end (1041 ) of the unlocking lever (1004). The inner end surface (1042) protrudes into the inner socket fluid passage (610), the locking element (1006) balls is now in contact with the part of the internal surface of the outer locking sleeve (1002) that has a smaller diameter, preventing the locking element (1006) balls from protruding out from the outer surface of the inner socket body (1001 ) and keep them protruding inward from the inner surface of the inner socket body (1001 ), thus locking the core (1101 ) of the inner header element (500) by the locking groove (1102), keeping the inner header element (500) attached to the inner socket element (600).

[0390] According to the disclosure, the method for detaching the inner header element (500) from the inner socket element (600) further comprises inserting a disconnection rod (1200) into the inner socket fluid passage (610) until its head (1201 ) contacts with the inner end surface (1042) of the unlocking lever (1004), a force is applied to push the disconnection rod (1200) further inward. As a result of the movement of the disconnection rod (1200), inner end surfaces (1042) of the unlocking levers (1004) are pushed outward so it is less protruded into the inner socket fluid passage (610), causing the unlocking levers (1004) to rotate around the axles (1040) and the outer ends (1041 ) of the unlocking levers (1004) to move generally in the direction away from the inner header element (500). The outer ends (1041 ) of the unlocking levers (1004) thus presses against the protrusions (1020) of the outer locking sleeve (1003), causing the outer locking sleeve (1003) to move in the direction away from the inner header element (500), overcoming the force of and further compressing the spring (1011 ).

[0391] According to the disclosure, as the disconnection rod (1200) is inserted further in, the outer locking sleeve (1003) keeps moving by the unlocking levers (1004), until the conical step (1008) on the outer locking sleeve (1003) is exposed to the holes (1005) on the wall of the inner socket body (1001 ). At this point, the pushing force from the compressed spring (1010) pushes the inner locking sleeve (1002) towards the inner header element (500), which pushes the core (1101) of the inner header element (500). Such an pushing force is transformed into radial push forces against the locking element (1006) balls by the conical step on the locking groove (1102) on the core (1101) of the inner header element (500), pushing the locking element (1006) balls outwards passing the conical step (1008) on the outer locking sleeve (1003). As such, the locking element (1006) balls are protrudingNexera Corp.less from the inner surface of the inner socket body (1001 ) or the wall of the inner socket fluid passage (610), so that they are not catching the locking groove (1102) on the core (1101 ) of the inner header element (500) anymore. So that the inner locking sleeve (1002) is able to push the core (1101 ) of the inner header element (500) away under the pushing force from the compressed spring (1011 ), until the core (1101 ) of the inner header element (500) is fully pushed out from the inner socket element (600) by the inner locking sleeve (1002).

[0392] According to the disclosure, the further movement of the inner locking sleeve (1002) is stopped because the locking element (1006) balls are still protruding a little from the inner surface of the inner socket body (1001 ) or the wall of the inner socket fluid passage (610), and such protrusion is enough to catch on the step (1007) on the inner locking sleeve (1002) and stop latter from further movement. Finally, the disconnection rod (1200) is pull out from the inner socket element (600). The disconnection rod (1200) is therefore not pressing against the inner end surface (1042) of the unlocking lever (1004) anymore, and the outer locking sleeve (1003) is only subject to the full pushing force of the spring (1011 ), pressing the conical step (1008) on it against the locking element (1006) balls. As the locking element (1006) cannot move radially inwards due to the blockage of the inner locking sleeve (1002), the locking element (1006) balls stop the outer locking sleeve (1003) from moving further, and the inner socket element (600).

[0393] According to the disclosure, a gripping device having an inner attachment interface (i.e., a latching mechanism) is disclosed. The inner header element (500) of the gripping device can be attached to or detached from the inner socket element (600) through an inner attachment interface (700) in the form of a latching mechanism (2000). The inner header element (500) comprises a header side inner attachment interface (740). The inner socket element (600) comprises a socket side inner attachment interface (710). The header side inner attachment interface (740) comprises a latching core (2101) and one or more latching arms (2102). Each latching arm (2102) has a latching hook (2103) on one end. Each latching arm can pivot around an axle (2140) fixed to the latching core (2101 ). Each latching arm (2102) is preloaded by at least one spring (2104) on the end without the latching hook (2103), so that the force of the spring (2104) tends to rotate the latching arm (2102) around the axle (2140) and make the latching hook (2103) tend to move laterally towards the longitudinal axis of the inner header element (500).Nexera Corp.

[0394] According to the disclosure, the inner header element (500) further comprise seals (2200, 2201 ), to help create a seal between the inner socket fluid passage (610) and the inner header fluid passage (510). The socket side inner attachment interface (710) comprises a latching inner socket body (2001 ) with at least one latching guide groove (2002) and at least one latching face (2003) on its exterior, an inner socket fluid passage (610) and an inner socket surface (2005) on its interior.

[0395] According to the disclosure, the method for attaching the inner header element (500) to the inner socket element (600) further comprises bring the inner header element (500) and the inner socket element (600) into alignment with the latching arms (2102) on the inner header element (500) aligned with the latching guide grooves (2002) on the inner socket element (500), move the inner header element (500) and the inner socket element (600) towards each other until the latching arms (2102) on the inner header element (500) contact the starting point of the latching guide grooves (2002) on the inner socket element (500), continue to move the inner header element (500) and the inner socket element (600) towards each other so that the latching arms (2102) on the inner header element (500) are pushed open by the latching guide grooves (2002) on the inner socket element (500) with the springs (2104) compressed, and then the latching hooks (2103) slides along the latching guide grooves (2002), continue to move the inner header element (500) and the inner socket element (600) towards each other until the latching hooks (2103) reach the end of the guide grooves (2002). At this moment, the guide grooves (2002) can no longer support the latching hooks (2103). As a result, the springs (2104) decompresses, pushing the latching arm (2102) to rotate around the axles (2140) and the latching hooks (2103) move towards the inner header element (500), engaging with the latching faces (2003) on the latching inner socket body (2001 ). At this time the seals (2200) on the inner header element (500) also makes contact with the inner socket surface (2005), creating a seal between the inner socket fluid passage (610) and the inner header fluid passage (510).

[0396] According to the disclosure, the method for detaching the inner header element (500) from the inner socket element (600) further comprises applying forces towards the ends of the latching arms (2102) without the latching hooks (2103), so that the springs (2104) are compressed with the latching arms (2102) rotating around the axles (2140). The rotation of the latching arms (2102) allows the latching hooks (2103) to disengage from the latching faces (2003). Pull the inner header element (500) away from the inner socket element (600).Nexera Corp.

[0397] According to the disclosure, the gripping device further comprises an inner attachment interface (i.e., a preloaded bayonet lock mechanism). The gripping device comprises the inner header element (500) can be attached to or detached from the inner socket element (600) through an inner attachment interface (700) in the form of a preloaded bayonet lock mechanism (3000). The inner header element (500) comprises a header side inner attachment interface (740). The inner socket element (600) comprises a socket side inner attachment interface (710). The header side inner attachment interface (740) comprises a bayonet lock core (3101 ) with one or more tongues (3102).

[0398] According to the disclosure, the inner header element (500) further comprise seals (3200, 3201 ) to help create a seal between the inner socket fluid passage (610) and the inner header fluid passage (510). The socket side inner attachment interface (710) comprises: a bayonet lock inner socket body (3001 ), at least one spring-loaded ball (3012) configured to push towards the inner header element (600), an inner socket fluid passage (610), a bayonet locking cam layer (3006) and an inner socket surface (3005) on its interior. The bayonet locking cam layer (3006) comprises one or more locking cams (3007), with each locking cam (3007) comprising an entry protrusion (3008), a resting notch (3009), and a stopping ridge (3010).

[0399] According to the disclosure, the method for attaching the inner header element (500) to the inner socket element (600) further comprises bringing the inner header element (500) and the inner socket element (600) into alignment with the tongues (3102) on the inner header element (500) aligned with the gaps between locking the cams (3007) on the inner socket element (500), moving the inner header element (500) and the inner socket element (600) towards each other until the inner header element (500) is stopped by the bayonet lock inner socket body (3001 ) and cannot be pushed in further. At this moment, the seals (3200) on the inner header element (500) makes contact with the inner socket surface (3005), creating a seal between the inner socket fluid passage (610) and the inner header fluid passage (510).

[0400] According to the disclosure, the method for comprises applying a pushing force and a rotating moment are applied to the inner header element (500), so that the inner header element (500) is rotated, bring the tongues (3102) to go over the entry protrusions (3008) of the locking cams (3007) without being obstructed by such entry protrusions (3008). As the rotation progresses, the tongues (3102) also press against the spring-loaded balls (3012), forcing them to move away from the inner header element (500) whileNexera Corp.compressing their preload springs. The rotation of the inner header element (500) stops when the tongues (3102) hit the stopping ridges (3010) of the locking cams (3007). The method also removes the pushing force and the rotating moment applied to the inner header element (500). As such, the spring-loaded balls (3012) push the tongues (3102) back, hence pushing the inner header element (500) away from the inner socket element (600). But the tongues (3102) are caught by the resting notches (3009) of the locking cams (3007), preventing the inner header element (500) from being pushed out further. Also, the inner header element (500) at this moment cannot be rotated as the tongues (3102) resting on the resting notches (3009) are limited on the sides by the stopping ridges (3010) and the entry protrusions (3008). So that the inner header element (500) is attached to the inner socket element (600).

[0401] According to the disclosure, the method for detaching the inner header element (500) from the inner socket element (600) further comprises applying a force to the inner header element (500) to push it against the inner socket element (600). As a result, the tongues (3102) on the inner header element (500) press against the spring-loaded balls (3012), forcing them to retract while compressing their preload springs. The tongues (3102) eventually reach a position that if the inner header element (500) is rotated together with the tongues (3102), the tongues (3102) is clear of the entry protrusions (3008) of the locking cams (3007) and will not be blocked by the latter. A moment is applied to the inner header element (500) to rotate it so that the tongues (3102) are rotated until they are aligned with the gaps between locking the cams (3007) on the inner socket element (500) and stopped by the stopping ridges (3010). Notice that at this moment the tongues (3102) are no longer pressing against the spring-loaded balls (3012), so that the latter spring back. The method further remove the moment applied to the inner header element (500), and the pushing force applied to the inner header element (500) is changed to a pulling force. As such, the inner header element (500) is pulled away from the inner socket element (600).

[0402] According to the disclosure, the gripping device further comprises an outer socket and header elements (i.e., general construction). The outer header element (200) of the gripping device can be attached to or detached from the outer socket element (300) through an outer attachment interface (400) comprising a header side outer attachment interface (440) and a socket side outer attachment interface (410). The header side outer attachment interface (440) is on the outer header element (200). The socket side outer attachment interface (410) is on the outer socket element (300).Nexera Corp.

[0403] According to the disclosure, the outer socket element (300) with the socket side outer attachment interface (410) comprises a plurality of attachment mortises (420). The outer header element (200) with the header side outer attachment interface (440) comprises a plurality of attachment tenons (450) configured to be inserted into the attachment tenons (450) to connect the outer header element (200) to the outer socket element (300).

[0404] According to the disclosure, the outer socket element (300) with the socket side outer attachment interface (410) further comprises a plurality of fluid passage sockets (311 ). The outer header element (200) with the header side outer attachment interface (440) further comprises a plurality of fluid passage headers (211 ) configured to be inserted into the fluid passage sockets (311 ) to connect the outer header fluid passage (210) to the outer socket fluid passage (310). The each of the fluid passage headers (211 ) further comprises sealing elements (213) configured to seal the connection between the outer header fluid passage (210) and the outer socket fluid passage (310).

[0405] According to the disclosure, the gripping device further comprises an outer attachment interface (i.e., a radial ball lock mechanism). The outer attachment interface (400) is in the form of a radial ball lock with lifting sleeve mechanism (5000). The header side outer attachment interface (440) comprises an outer header main body (5220) with the attachment tenons (450) on it. Each of such attachment tenons (450) comprises a locking groove (451 ) having a slanted top surface, configured to engage with an outer locking element (452) on the outer socket element (300). Wherein the the locking grooves (451 ) are facing radially outwards.

[0406] According to the disclosure, the outer socket element (300) with the socket side outer attachment interface (410) comprises an outer socket top block (5110), an outer socket bottom block (5120), a lifting locking sleeve (5130), a plurality of internal locking pieces (5140), a plurality of outer locking elements (452), springs (5160) for the lifting locking sleeve (5130), and springs (5170) for the internal locking pieces (5140). The outer socket bottom block (5120) further comprises through pockets (5121) in which the internal locking pieces (5140) can move and the through pockets (5121 ), and the through pockets (5121 ) are connected to a plurality of attachment mortises (420) configured to mate with the attachment tenons (450). Wherein a groove (5122) is made on a side surface of each pocket (5121 ) to accept a ridge (5141) on the internal locking piece (5140). The groove (5122) terminates shortly before the opening of the pocket (5121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limitingNexera Corp.the movement of the internal locking piece (5140), preventing it from falling out from the outer socket bottom block (5120) further comprises recesses (5123) to accommodate protrusions (5131 ) on the internal surface of the lifting locking sleeve (5130), allowing the lifting locking sleeve (5130) to move towards or away from the outer header element (200). An external rim (5124) on the outer socket bottom block (5120) limits the range of movement of the lifting locking sleeve (5130).

[0407] According to the disclosure, the outer socket bottom block (5120) further comprises through holes (5125) to accommodate the outer locking elements (452) and passing between the external surface of the socket bottom block (5120) and the through pockets (5121 ). The depth of the holes (5125) is smaller than the diameter of the outer locking element (452) so that the outer locking element (452) can protrude out of either or both ends of the through hole (5125). The outer socket top block (5110) comprises recesses (5111 ) that align with the recesses (5123) on the outer socket bottom block (5120) to accommodate the protrusions (5131 ) on the internal surface of the lifting locking sleeve (5130), allowing the lifting locking sleeve (5130) to move towards or away from the outer header element (200). And the end surface of the recesses (5111) limits the range of movement of the lifting locking sleeve (5130).

[0408] According to the disclosure, the lifting locking sleeve (5130) further comprises a conical step (5132) around its internal surface configured to catch on the outer locking element (452) balls if they are protruding from the end of the through holes (5125) on the external surface of the socket bottom block (5120), preventing the lifting locking sleeve (5130) from moving further towards the outer header element (200). The conical step (5132) also exerts a inward radial force to the outer locking element (452) when catching on the outer locking element (452) due to the action of the springs (5160). The internal surface (5133) above the conical step (5132) and the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) are configured to block the radial outward movement of the outer locking element (452). The springs (5160) are placed between the protrusions (5131) and the outer socket top block (5110) to provide a preload force on the lifting locking sleeve (5130) towards the direction of the outer header element (200).

[0409] According to the disclosure, each internal locking piece (5140) further comprising a slanted step (5142) configured to catch the outer locking element (452) if they are protruding from the inner end of the holes (5125), preventing the internal locking piece (5140) from moving further towards the outer header element (200). The slanted step (5142)Nexera Corp.also exerts an outward radial force to the outer locking element (452) when catching on the outer locking element (452). The surface (5143) below the slanted step (5142) of the internal locking piece (5140) is configured to block the radial inward movement of the outer locking element (452). A spring (5170) is installed between each internal locking piece (5140) and the outer socket top block (5110) to provide a preload force on the internal locking piece (5140) towards the direction of the outer header element (200). The outer socket top block (5110) and the outer socket bottom block (5120) further comprises one or more outer fluid socket passages (310), connecting the socket fluid passage entry ports (303) to the fluid passage sockets (311 ).

[0410] According to the disclosure, the method for attaching the outer header element (200) to the outer socket element (300) further comprises Initially, the outer socket element (300) is in an idle state where the internal locking pieces (5140) are in a position with the end of their ridges (5141) sitting at the lower end of the grooves (5122) on the outer socket bottom block (5120). As such, the surfaces (5143) of the internal locking pieces (5140) are in contact with the outer locking element (452), preventing them from protruding too much from the inner end of the through holes (5125). As a result, the outer locking element (452) are protruding from the outer end of the through holes (5125) and catching the conical step (5132) of the lifting locking sleeve (5130), preventing the lifting locking sleeve (5130) from moving towards the outer header element (200) under the force exerted by the springs (5160), while the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) blocks the radial outward movement of the outer locking element (452) balls.

[0411] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) towards each other, such that the attachment tenons (450) are inserted into the attachment mortises (420). The tops of the attachment tenons (450) contact with and then push the internal locking pieces (5140) further into the outer socket element (300), overcoming the force generated by the springs (5170). As a result, the surfaces (5143) of the internal locking pieces (5140) are no longer in contact with the outer locking elements (452). Instead, the outer surface of the attachment tenons (450) are in contact with the outer locking elements (452) and prevent them from protruding too much into the inner end of the through holes (5125).

[0412] According to the disclosure, the method further moves the outer socket element (300) and the outer header element (200) closer towards each other until that the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking elementsNexera Corp.(452). As a result, the outer locking elements (452) move radially inwards and fall into the locking grooves (451 ) and no longer protruding from the outer end of the through holes (5125). So that the conical step (5132) of the lifting locking sleeve (5130) is no longer caught by the outer locking elements (452). As such, under the force of the springs (5160), the lifting locking sleeve (5130) moves towards the outer header element (200) until it is stopped by the external rim (5124) on the outer socket bottom block (5120). At this point, the internal surface (5133) above the conical step (5132) of the lifting locking sleeve (5130) becomes in contact with the outer locking elements (452), preventing them from moving radially outward. As a result, the attachment tenons (450) are locked in place by the outer locking element (452) balls at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). At this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) creates a seal between them.

[0413] According to the disclosure, the method for detaching the outer header element (200) from the outer socket element (300) further comprises move the lifting locking sleeve (5130) away from the outer header element (200). The movement of the lifting locking sleeve (5130) exposes the internal surface (5134) below the conical step (5132) of the lifting locking sleeve (5130) to the outer locking elements (452), allowing the latter to move radially outwards underthe radial force exerted by the slanted top surface of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (5170). As a result, the outer locking elements (452) are no longer protruding much from the internal end of the through holes (5125) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) are then pushed out by the internal locking pieces (5140). As such the outer header element (200) is detached from the outer socket element (300).

[0414] According to the disclosure, the gripping device further comprises an outer attachment interface (i.e., a tangential ball lock with rotating sleeve mechanism). The outer attachment interface (400) is in the form of a tangential ball lock with rotating sleeve mechanism (6000). The header side outer attachment interface (440) comprises an outer header main body (6220) on which the attachment tenons (450) are located. Each of such attachment tenons (450) comprises a locking groove (451 ) with a slanted top surface configured to engage with an outer locking element (452) on the outer socket element (300). Wherein the locking grooves (451 ) are facing tangentially. The outer socket element (300) further comprises: an outer socket top block (6110), an outer socket bottom blockNexera Corp.(6120), a rotating locking sleeve (6130), a plurality of internal locking pieces (6140), a plurality of external locking pieces (6180), and a plurality of outer locking elements (452), springs (6160) for the external locking piece (6180), and springs (6170) for the internal locking pieces (6140).

[0415] According to the disclosure, the outer socket bottom block (6120) further comprises through pockets (6121) in which the internal locking pieces (6140) can move towards or away from the outer header element (200) and the through pockets (6121 ) are connected to the attachment mortises (420). A groove (6122) is made on a side surface of each through pocket (6121) to accept a ridge (6141 ) on the internal locking piece (6140). The groove (6122) terminates shortly before the opening of the through pocket (6121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limiting the axial movement of the internal locking piece (6140), preventing it from falling out from the attachment mortises (420). The outer socket bottom block (6120) further comprises recesses (6123) to accommodate the external locking piece (6180), allowing the external locking piece (6180) to move towards or away from the outer header element (200).

[0416] According to the disclosure, the outer socket bottom block (6120) further comprises through holes (6125) connecting the external surface of the outer socket bottom block (6120) to the through pockets (6121 ) and configured to accommodate the outer locking elements (452). The depth of the through holes (6125) is smallerthan the diameter of the outer locking elements (452) so that the outer locking elements (452) can protrude out of either one or both ends of the through holes (6125). The outer socket top block (6110) further comprises recesses (6111 ) that align with the recesses (6123) on the outer socket bottom block (6120) to accommodate the external locking pieces (6180), allowing the external locking pieces (6180) to move towards or away from the outer header element (200) and the end surface of the recesses (6111 ) limits the range of movement of the external locking pieces (6180).

[0417] According to the disclosure, the external locking pieces (6180) further comprise a slanted step (6182) on its side that faces the outer locking elements (452), and configured to catch on the outer locking elements (452) if they are protruding from the outer end of the through holes (6125), preventing the external locking pieces (6180) from moving further towards the outer header element (200). The slanted step (6182) also exerts a tangential force to the outer locking elements (452) toward the internal locking pieces (6140) whenNexera Corp.catching the outer locking elements (452). The surface (6183) above the slanted step (6182) and the surface (6184) below the slanted step (6182) of the external locking pieces (6180) are configured to block the tangential outward movement of the outer locking elements (452). The external locking pieces (6180) further comprise springs (6160) placed between the external locking pieces (6180) and the outer socket top block (6110) to provide an axial preload force on the external locking pieces (6180) towards the direction of the outer header element (200).

[0418] According to the disclosure, the external locking pieces (6180) further comprises a cam follower (6181 ) on its outward facing side, and it is configured to follow a cam surface (6132) on the rotating locking sleeve (6130). The rotating locking sleeve (6130) further comprises one or more cam recesses (6131 ) on its inward facing side. Each cam recess (6131 ) has a cam surface (6132) on the side closer to the outer header element (200), a cam starting side (6133) and a cam ending side (6134). As the rotating locking sleeve (6130) is rotated, the cam follower (6181 ) slides along the cam surface (6132) between the cam starting side (6133) and the cam ending side (6134), with its distance from the outer header element (200) at the smallest when the cam follower (6181 ) is at the cam starting side (6133), and at the biggest when the cam follower (6181 ) is at the cam ending side (6134). As such, the external locking pieces (6180) can be brought closer or further away from the side of the outer header element (200) by rotating the rotating locking sleeve (6130). The internal locking piece (6140) further comprising a slanted step (6142) configured to catch on the outer locking elements (452) if they are protruding from the inner end of the through holes (6125), preventing the internal locking piece (6140) from moving further towards the outer header element (200) and falling out from an attachment mortise (420). The slanted step (6142) also exerts an outward tangential force to the outer locking elements (452) when catching on the outer locking element (452) balls. The surface (6143) below the slanted step (6142) of the internal locking piece (6140) is configured to block the tangential inward movement of the outer locking elements (452).

[0419] According to the disclosure, a spring (6170) is installed between each internal locking piece (6140) and the outer socket top block (6110) to provide an axial preload force on the internal locking piece (6140) towards the direction of the outer header element (200).

[0420] According to the disclosure, the method for attaching the outer header element (200) to the outer socket element (300) further comprises initially, the rotating locking sleeveNexera Corp.(6130) is at an angular position that the cam follower (6181 ) on the external locking pieces (6180) is at the cam starting side (6133) of the cam recesses (6131). The outer socket element (300) is in an idle state where the internal locking pieces (6140) are in the lowest position with the end of their ridges (6141 ) sitting at the lower end of the grooves (6122) on the outer socket bottom block (6120). As such, the surfaces (6143) of the internal locking pieces (6140) are in contact with the outer locking elements (452), preventing them from protruding too much from the inner end of the through holes (6125). As a result, the outer locking elements (452) are protruding from the outer end of the through holes (6125) and catching the slanted step (6182) of the external locking pieces (6180), preventing the external locking pieces (6180) from moving towards the outer header element (200) under the force exerted by the springs (6160), while the internal surface (6184) below the slanted step (6182) of the external locking pieces (6180) blocks the tangential outward movement of the outer locking elements (452).

[0421] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) towards each other, such that the attachment tenons (450) are inserted into the attachment mortises (420). The top surface of the attachment tenons (450) contacts with and then pushes the internal locking piece (6140) further into the outer socket element (300), overcoming the force generated by the springs (6170). As a result, the surfaces (6143) of the internal locking pieces (6140) are no longer in contact with the outer locking elements (452). Instead, the top part of the side surface of the attachment tenons (450) with the locking groove (451 ) are in contact with the outer locking elements (452) and preventing them from protruding too much from the inner end of the through holes (6125).

[0422] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) closer towards each other until the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking elements (452). As a result, the outer locking elements (452) move tangentially towards and then fall into the locking grooves (451 ) and no longer protruding from the outer end of the through holes (6125). So that the slanted step (6182) of external locking pieces (6180) is no longer caught by the outer locking elements (452). As such, under the force of the springs (6160), the external locking pieces (6180) move towards the outer header element (200) until they are stopped by the bottom of the recesses (6123) on the outer socket bottom block (6120). At this point, the internal surface (6183) above the slanted step (6182) of the external locking pieces (6180) becomes in contact with the outer locking elements (452), preventing them from moving tangentially outward. As a result, the attachment tenons (450) are locked in place byNexera Corp.the outer locking element (452) balls at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). At this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) creates a seal between them.

[0423] According to the disclosure, the method for detaching the outer header element (200) from the outer socket element (300) further comprises rotating the rotating locking sleeve (6130) relative to the outer socket top block (6110) so that the cam follower (6181 ) slides along the cam surface (6132) from the cam starting side (6133) to the cam ending side (6134). Under the guidance of the cam surface (6132), the external locking pieces (6180) is moved away from the outer header element (200), overcoming the force of the spring (6160). The movement of the external locking pieces (6180) exposes the surface (6184) below the slanted step (6182) of the external locking pieces (6180) to the outer locking elements (452), allowing the latter to move tangentially outwards towards the external locking pieces (6180) under the tangential force exerted by the slanted top surface of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (6170). As a result, the outer locking elements (452) are no longer protruding much from the end of the through holes (6125) that faces the attachment tenons (450) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) is then pushed out by the internal locking pieces (6140) under the force of the springs (6170). As such the outer header element (200) is detached from the outer socket element (300). Finally, the method rotates the rotating locking sleeve (6130) back such that the cam follower (6181 ) is returned to the cam starting side (6133).

[0424] According to the disclosure, the gripping device further comprises an outer attachment interface (i.e., a radial ball lock with rotating sleeve mechanism). The outer attachment interface (400) is in the form of a radial ball lock with rotating sleeve mechanism (7000). The header side outer attachment interface (440) comprises an outer header main body (7220) on which the attachment tenons (450) are located. Each of such attachment tenons (450) comprises a locking groove (451 ) with a slanted top surface configured to engage with an outer locking element (452) on the outer socket element (300). The outer socket element (300) with the header side outer attachment interface (410) further comprises an outer socket top block (7110), an outer socket bottom block (7120), a rotating locking sleeve (7130), at least one internal locking piece (7140), at least one external locking piece (7180), at least one outer locking element (452), springs (7160) forthe external locking piece (7180), and springs (7170) for the internal locking pieces (7140).Nexera Corp.

[0425] According to the disclosure, the outer socket bottom block (7120) further comprises through pockets (7121) in which the internal locking pieces (7140) can move towards or away from the outer header element (200) and the through pockets (7121 ) are connected to the attachment mortises (420). A groove (7122) is made on a side surface of each through pocket (7121 ) to accept a ridge (7141) on the internal locking piece (7140). The groove (7122) terminates shortly before the opening of the through pocket (7121), near the entry point of the attachment mortise (420), on the end facing the outer header element (200), thus limiting the axial movement of the internal locking piece (7140), preventing it from falling out from the attachment mortise (420). The outer socket bottom block (7120) further comprises recesses (7123) to accommodate the external locking piece (7180), allowing the external locking piece (7180) to move towards or away from the outer header element (200).

[0426] According to the disclosure, the outer socket bottom block (7120) further comprises through holes (7125) connecting the external surface of the outer socket bottom block (7120) to the through pockets (7121 ) and configured to accommodate the outer locking elements (452). The depth of the through holes (7125) is smallerthan the diameter of the outer locking elements (452) so that the outer locking elements (452) can protrude out of either one or both ends of the through holes (7125). The outer socket top block (7110) comprises recesses (7111 ) that align with the recesses (7123) on the outer socket bottom block (7120) to accommodate the external locking pieces (7180), allowing the external locking pieces (7180) to move towards or away from the outer header element (200) and the end surface of the recesses (7111) limits the range of movement of the external locking pieces (7180).

[0427] According to the disclosure, the external locking pieces (7180) further comprises a slanted step (7182) on its inward facing side and configured to catch on the outer locking elements (452) if they are protruding from the outer end of the through holes (7125), preventing the external locking pieces (7180) from moving further towards the outer header element (200). The slanted step (7182) also exerts a tangential force to the outer locking elements (452) toward the internal locking pieces (7140) when catching on the outer locking elements (452). The surface (7183) above the slanted step (7182) and the surface (7184) below the slanted step (7182) of the external locking pieces (7180) are configured to block the radial outward movement of the outer locking elements (452). The outer socket element (300) further comprises springs (7160) placed between the external locking pieces (7180)Nexera Corp.and the outer socket top block (7110) to provide an axial preload force on the external locking pieces (7180) towards the direction of the outer header element (200).

[0428] According to the disclosure, the external locking pieces (7180) further comprises a cam follower (7181) on its outward facing side, and it is configured to follow a cam surface (7132) on the rotating locking sleeve (7130). The rotating locking sleeve (7130) further comprises one or more cam recesses (7131 ) on its inward facing side. Each cam recess (7131 ) has a cam surface (7132) on the side closer to the outer header element (200), a cam starting side (7133) and a cam ending side (7134). As the rotating locking sleeve (7130) is rotated, the cam follower (7181 ) slides along the cam surface (7132) between the cam starting side (7133) and the cam ending side (7134), with its distance from the outer header element (200) at the smallest when the cam follower (7181 ) is at the cam starting side (7133), and at the biggest when the cam follower (7181 ) is at the cam ending side (7134). As such, the external locking pieces (7180) can be brought closer or further away from the side of the outer header element (200) by rotating the rotating locking sleeve (7130).

[0429] According to the disclosure, the internal locking piece (7140) further comprising a slanted step (7142) configured to catch on the outer locking elements (452) if they are protruding from the inner end of the through holes (7125), preventing the internal locking piece (7140) from moving further towards the outer header element (200) and falling out from an attachment mortise (420). The slanted step (7142) also exerts an outward radial force to the outer locking element (452) balls when catching on the outer locking element (452) balls. The surface (7143) below the slanted step (7142) of the internal locking piece (7140) is configured to block the radial inward movement of the outer locking elements (452). The outer socket element (300) further comprises springs (7170) installed between the internal locking pieces (7140) and the outer socket top block (7110) to provide an axial preload force on the internal locking pieces (7140) towards the direction of the outer header element (200).

[0430] According to the disclosure, the method for attaching the outer header element (200) to the outer socket element (300) further comprises initially, rotating locking sleeve (7130) is at an angular position that the cam follower (7181) on the external locking pieces (7180) is at the cam starting side (7133) of the cam recesses (7131). The outer socket element (300) is in an state where the internal locking pieces (7140) are in the lowest position with the end of their ridges (7141 ) sitting at the lower end of the grooves (7122) on the outer socket bottom block (7120). As such, the surfaces (7143) of the internal lockingNexera Corp.pieces (7140) are in contact with the outer locking elements (452), preventing them from protruding too much from the inner end of the through holes (7125). As a result, the outer locking elements (452) are protruding from the outer end of the through holes (7125) and catching the slanted step (7182) of the external locking pieces (7180), preventing the external locking pieces (7180) from moving towards the outer header element (200) under the force exerted by the springs (7160), while the internal surface (7184) below the slanted step (7182) of the external locking pieces (7180) blocks the radial outward movement of the outer locking elements (452).

[0431] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) are moved towards each other, such that the attachment tenons (450) are inserted into the attachment mortises (420). The top surface of the attachment tenons (450) contacts with and then pushes the internal locking piece (7140) further into the outer socket element (300), overcoming the force generated by the springs (7170). As a result, the surfaces (7143) of the internal locking pieces (7140) are no longer in contact with the outer locking elements (452). Instead, the top parts of the outward facing surfaces of the attachment tenons (450) with the locking groove (451 ) are in contact with the outer locking element (452) balls and preventing them from protruding too much from the inner end of the through holes (7125).

[0432] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) closer toward each other until the locking grooves (451 ) on the attachment tenons (450) are exposed to the outer locking element (452) balls. As a result, the outer locking elements (452) move radially inward and then fall into the locking grooves (451 ) and no longer protruding from the outer end of the through holes (7125). So that the slanted step (7182) of external locking pieces (7180) is no longer caught by the outer locking elements (452). As such, under the force of the springs (7160), the external locking pieces (7180) move towards the outer header element (200) until it is stopped by the bottom of the recesses (7123) on the outer socket bottom block (7120). At this point, the internal surface (7183) above the slanted step (7182) of the external locking pieces (7180) becomes in contact with the outer locking elements (452), preventing them from moving radially outward. As a result, the attachment tenons (450) are locked in place by the outer locking element (452) balls at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). At this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) create a seal between them.Nexera Corp.

[0433] According to the disclosure, the method for detaching the outer header element (200) from the outer socket element (300) further comprises rotating the rotating locking sleeve (7130) relative to the outer socket top block (7110) so that the cam follower (7181) slides along the cam surface (7132) from the cam starting side (7133) to the cam ending side (7134). Under the guidance of the cam surface (7132), the external locking pieces (7180) are moved away from the outer header element (200), overcoming the force of the spring (7160). The movement of the external locking pieces (7180) exposes the surface (7184) below the slanted step (7182) of the external locking pieces (7180) to the outer locking elements (452), allowing the latter to move radially outward towards the external locking pieces (7180) under the radial force exerted by the slanted top surfaces of the locking grooves (451 ) on the attachment tenons (450) due to the compression of the springs (7170). As a result, the outer locking elements (452) are no longer protruding much from the end of the through holes (7125) that faces the attachment tenons (450) and cannot catch the locking grooves (451 ). The attachment tenons (450), together with the outer header element (200) are then pushed out by the internal locking pieces (7140). As such the outer header element (200) is detached from the outer socket element (300). The method further rotates the rotating locking sleeve (7130) back such that the cam follower (7181) is returned to the cam starting side (7133).

[0434] According to the disclosure, the gripping device further comprises an outer attachment interface (i.e., a bayonet lock with rotating sleeve mechanism). The outer attachment interface (400) is in the form of a bayonet lock with rotating sleeve mechanism (8000). The header side outer attachment interface (440) comprises an outer header main body (7220) on which the attachment tenons (450) are located. Each of such attachment tenons (450) comprises a locking groove (451 ) configured to engage with a locking protrusion (8131 ) on the inward facing surface of a rotating locking sleeve (8130). Each of such attachment tenons (450) further comprises an unlocking cam surface (453) configured to engage with an unlocking protrusion (8132) on the inward facing surface of a rotating locking sleeve (8130).

[0435] According to the disclosure, the outer socket element (300) comprises an outer socket top block (8110), an outer socket bottom block (8120), and a rotating locking sleeve (8130). The outer socket bottom block (8120) further comprises through pockets (8121 ) directly inside of the attachment mortises (420) configured to accommodate the attachment tenons (450) on the outer header element (200) and the through pockets (8121 ) are connected to the attachment mortises (420). On the external surface of the outer socketNexera Corp.bottom block (8120) at the through pockets (8121 ) are two peripheral slots: one locking slot (8123) for accommodating the locking protrusion (8131) of the rotating locking sleeve (8130), allowing it to rotate with the rotating locking sleeve (8130), and one unlocking slot (8122) for accommodating the unlocking protrusion (8132) of the rotating locking sleeve (8130), allowing it to rotate with the rotating locking sleeve (8130). Rotating locking sleeve (8130) can take any angular position between an initial angular position (8124) and an end angular position (8125). Both the unlocking slots (8122) and the locking slots (8123) are deep enough to reach into the through pockets (8121 ) on the outer socket bottom block (8120).

[0436] According to the disclosure, the method for attaching the outer header element (200) to the outer socket element (300) further comprises initially the outer socket element (300) is in a state where the rotating locking sleeve (8130) is at the initial angular position (8124). Move the outer socket element (300) and the outer header element (200) towards each other, such that the attachment tenons (450) are inserted into the attachment mortises (420) up to the point that the unlocking cam surfaces (453) on the attachment tenons (450) touches the unlocking protrusion (8132) of the rotating locking sleeve (8130).

[0437] According to the disclosure, the method moves the outer socket element (300) and the outer header element (200) closer towards each other, so that unlocking cam surfaces (453) on the attachment mortises (420) exert forces to the unlocking protrusion (8132) of the rotating locking sleeve (8130), forcing the rotating locking sleeve (8130) to rotate along the unlocking slots (8122) a bit, causing the locking protrusions (8131) of the rotating locking sleeve (8130) to also rotate along the locking slots (8123) and initially engage into the locking grooves (451 ) on the attachment tenons (450).

[0438] According to the disclosure, the method rotates the rotating locking sleeve (8130) towards the end angular position (8125). As such the unlocking protrusion (8132) of the rotating locking sleeve (8130) is rotated away from the unlocking cam surfaces (453) on the attachment tenons (450), and the locking protrusions (8131) of the rotating locking sleeve (8130) slides fulling into the locking grooves (451 ) on the attachment tenons (450). As a result, the attachment tenons (450) are locked in place by the locking protrusions (8131) at the locking grooves (451 ). And the outer header element (200) is attached to the outer socket element (300). At this point the fluid passage headers (211 ) are inserted into the fluid passage sockets (311 ) and the sealing elements (213) create a seal between them.Nexera Corp.

[0439] According to the disclosure, the method for detaching the outer header element (200) from the outer socket element (300) further comprises rotating the rotating locking sleeve (8130) towards the initial angular position (8124). As the rotating locking sleeve (8130) rotates, the locking protrusions (8131) on the rotating locking sleeve (8130) are rotated out of the locking grooves (451 ) on the attachment tenons (450), while the unlocking protrusions (8132) of the rotating locking sleeve (8130) are firstly rotated into contact with the unlocking cam surfaces (453) on the attachment tenons (450), and then as the rotation continues, the unlocking protrusions (8132) press against the unlocking cam surfaces (453) on the attachment tenons (450), pushing the outer header element (200).

[0440] According to the disclosure, the method continues to rotate the rotating locking sleeve (8130) until it reaches the initial angular position (8124). The outer header element (200) is pushed out by the unlocking protrusions (8132) on the rotating locking sleeve (8130). As such the outer header element (200) is detached from the outer socket element (300).

[0441] According to the disclosure, the gripping device further comprises a method of grasping using the deformable membrane (100) and the inner suction cup (i.e., Membrane mode). The method of grasping an object using the gripping device (900) uses the deformable membrane (100), the inner suction cup (800), or both, comprising steps of the gripping device (900) is pointed towards the object to be grasped, and at a state where the inner suction cup (800) is the closest to the object to be grasped. The gripping device (900) is moved towards the object until the inner suction cup (800) or the deformable membrane (100) contacts the object.

[0442] According to the disclosure, on or before the inner suction cup (800) or the deformable membrane (100) contacts the object, the shaft space (9200) is depressurized by the shaft pressure mechanism, creating a suction grasping force at the inner suction cup (800). The chamber actuating mechanism (9641 ) moves the chamber (910), the shaft actuating mechanism (9642) moves the shaft (920), or both. The chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a positive pressure.

[0443] According to the disclosure, at least the movement of the chamber (910), at least the movement of the shaft (920), at least the pressurization of the chamber space (9100) causes the deformable membrane (100) to deform and causes it to contact and then conform to the object to be grasped. The conformed deformable membrane (100) forms aNexera Corp.seal between the object and the deformable membrane (100) or at least between the object and the inner suction cup (800). With the depressurization of the shaft space (9200) and the conformation of the deformable membrane (100) to the object, a grasping and attractive force, including suction, friction, and mechanical interlocking, towards the object is created for grasping the object.

[0444] According to the disclosure, in the method, at least the movement of the chamber (910), at least the movement of the shaft (920), or at least the pressure set point of the second positive pressure for achieving a good grasp of the object is determined by the properties of the object to be grasped. The properties of the object include size, shape, hardness, texture, porosity, and weight.

[0445] According to the disclosure, the gripping device is configured to operate in suction cup mode which includes a method of grasping using only the inner suction cup. The method comprising using the inner suction cup (800) only comprising the following steps of the gripping device (900) is pointed towards the object to be grasped, and at a state where the inner suction cup (800) is the closest to the object to be grasped. The shaft actuating mechanism (9642) fully extends the shaft (920) relative to the framing structure (9590). The chamber actuating mechanism (9641 ) to fully retract the chamber (910) relative to the framing structure (9590).

[0446] According to the disclosure, the chamber pressure mechanism (9650) controls the pressure inside the chamber space (9100) to be at least similar to that of the environment. The gripping device (900) is moved towards the object to be grasped until the inner suction cup (800) contacts the object. The shaft space (9200) is depressurized by the shaft pressure mechanism, creating a suction grasping force at the inner suction cup (800). The suction grasping force causes the inner suction cup (800) to grasp the object.

[0447] According to the disclosure, the gripping device is further configured to operate in rim cup mode whereby a method of grasping using the outer suction cup is disclosed. The method comprising the following steps in any order. The gripping device (900) is pointed towards the object to be grasped, and at a state where the inner suction cup (800) is the closest to the object to be grasped. Depressurize the chamber space (9100) by the chamber pressure mechanism (9650) so that the deformable membrane (100) is sucked fully inside the chamber (910). Use the chamber actuating mechanism (9641 ) to fully extend the chamber (910) relative to the framing structure (9590) and use the shaft actuatingNexera Corp.mechanism (9642) to retract the shaft (920) until that the outer suction cup (850) is closer to the object to be grasped than the inner suction cup (800).

[0448] According to the disclosure, in the method, the shaft pressure mechanism is activated to depressurize the shaft space (9200). The outer suction cup pressure mechanism is activated to depressurize the fluid passages (9310, 310, and 320), creating a suction air flow at the outer suction cup (850). The gripping device is moved towards the object to be grasped until the outer suction cup (850) contacts the object and forms a seal. The depressurization due to the shaft pressure mechanism and the outer suction cup pressure mechanism provides a grasping and attractive force towards the object.

[0449] According to the disclosure, in the method the deformable membrane (100) and the inner suction cup (800) are simultaneously in contact with the object. The chamber space (9100) is pressurized by the chamber pressure mechanism (9650) to a positive pressure, and the shaft space (9200) is depressurized by the shaft pressure mechanism to a negative pressure. The positive pressure presses the deformable membrane (100) against the object to maximize the contact surface area of the deformable membrane (100) with the surface of the object to maximize friction and form at least a partial seal if the object is non-porous.

[0450] According to the disclosure, in the method, the negative pressure in the shaft space (9200) creates a suction force at the inner suction cup (800), if the deformable membrane (100) forms at least a partial seal with the object, the negative pressure of the shaft space (9200) extends to the at least partial seal the deformable membrane (100) forms with the object.

[0451] According to the disclosure, the medium of the gripping device is a compressible fluid, such as air or other gas, or incompressible fluid, such as water or other liquid.Furthermore, the medium directly touches at least the chamber (910).General Considerations

[0452] The functions described herein may be stored as one or more instructions on a processor-readable or computer-readable medium. The term "computer-readable medium" refers to any available medium that can be accessed by a computer or processor. By way of example, and not limitation, such a medium may comprise RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disk storage, magnetic disk storage or other magneticNexera Corp.storage devices, or any other medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer. It should be noted that a computer-readable medium may be tangible and non-transitory. As used herein, the term "code" may refer to software, instructions, code or data that is / are executable by a computing device or processor. A "module" can be considered as a processor executing computer-readable code.

[0453] A processor as described herein can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor can be a microprocessor, but in the alternative, the processor can be a controller, or microcontroller, combinations of the same, or the like. A processor can also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor may also include primarily analog components. For example, any of the signal processing algorithms described herein may be implemented in analog circuitry. In some embodiments, a processor can be a graphics processing unit (GPU). The parallel processing capabilities of GPUs can reduce the amount of time for training and using neural networks (and other machine learning models) compared to central processing units (CPUs). In some embodiments, a processor can be an ASIC including dedicated machine learning circuitry custom-build for one or both of model training and model inference.

[0454] The disclosed or illustrated tasks can be distributed across multiple processors or computing devices of a computer system, including computing devices that are geographically distributed. The methods disclosed herein comprise one or more steps or actions for achieving the described method. The method steps and / or actions may be interchanged with one another without departing from the scope of the claims. In other words, unless a specific order of steps or actions is required for proper operation of the method that is being described, the order and / or use of specific steps and / or actions may be modified without departing from the scope of the claims.

[0455] As used herein, the term "plurality" denotes two or more. For example, a plurality of components indicates two or more components. The term "determining" encompasses aNexera Corp.wide variety of actions and, therefore, "determining" can include calculating, computing, processing, deriving, investigating, looking up (e.g., looking up in a table, a database or another data structure), ascertaining and the like. Also, "determining" can include receiving (e.g., receiving information), accessing (e.g., accessing data in a memory) and the like. Also, "determining" can include resolving, selecting, choosing, establishing and the like.

[0456] The phrase "based on" does not mean "based only on," unless expressly specified otherwise. In other words, the phrase "based on" describes both "based only on" and "based at least on." While the foregoing written description of the system enables one of ordinary skill to make and use what is considered presently to be the best mode thereof, those of ordinary skill will understand and appreciate the existence of variations, combinations, and equivalents of the specific embodiment, method, and examples herein. The system should therefore not be limited by the above-described embodiment, method, and examples, but by all embodiments and methods within the scope and spirit of the system. Thus, the present disclosure is not intended to be limited to the implementations shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0457] According to the disclosure, FIG. 54 is a diagram illustrating an embodiment of the membrane module (10). In this embodiment, the membrane module (10) comprises an outer header element (9300), a deformable membrane (9310), and an inner header element (9400). The inner attachment interface (700) of this embodiment is in the form of a collet mechanism. The inner header element (9400) is configured to be attached to and detached from a shaft (9500) of the gripping device (900) by means of said collet mechanism, which engages with a groove (9501 ) provided on an external surface of the shaft (9500), for example near an end of the shaft (9500). The outer header element (9300) and the deformable membrane (9310) may be configured as described in any of the embodiments herein.

[0458] According to the disclosure, FIG. 55 is a diagram illustrating an embodiment of the outer header element (9300) and the attachment of the deformable membrane (9310) thereto. In this embodiment, the outer header element (9300) optionally comprises a base part (9301 ) and a clamping part (9302). The base part (9301 ) optionally has at least one protrusion (9304). The clamping part (9302) optionally has at least one latching tap (9303). The deformable membrane (9310) optionally has a thickened section (9311 ) on its outer edge (101 ).Nexera Corp.

[0459] According to the disclosure, the deformable membrane (9310) may be attached to the outer header element (9300) as follows. The deformable membrane (9310) is optionally slightly stretched and the thickened section (9311 ) on its outer edge (101 ) is fitted onto the base part (9301 ). The clamping part (9302) is then optionally brought to bear against the thickened section (9311 ) of the deformable membrane (9310), such that the at least one latching tap (9303) of the clamping part (9302) engages with the at least one protrusion (9304) of the base part (9301 ). In the attached state, the thickened section (9311 ) of the deformable membrane (9310) is optionally clamped between the base part (9301 ) and the clamping part (9302), and the clamping part (9302) is optionally secured to the base part (9301 ) by the engagement of the at least one latching tap (9303) with the at least one protrusion (9304). It will be appreciated that the base part (9301 ), the clamping part (9302), the at least one protrusion (9304), the at least one latching tap (9303), and the thickened section (9311 ) are each optional features that may be present individually or in any combination.

[0460] According to the disclosure, FIG. 56 is a diagram illustrating an embodiment of the inner header element (9400) with the inner attachment interface (700) in the form of a collet mechanism, shown in external view and in cross-section view. In this embodiment, the inner header element (9400) optionally comprises a core (9410), one or more clamping pieces (9420), one or more preloading components (9430), a locking sleeve (9440), a bottom cap (9450), a suction cup (9460), and optionally an inner cup support ring (9470). The bottom cap (9450) is optionally attached to the core (9410), for example by means of screws or other fastening means.

[0461] According to the disclosure, the core (9410) optionally has one or more cam grooves (9411 ) on its external surface and a collar (9412). Each cam groove (9411 ) optionally has a notch (9413) at or near its end. The collar (9412) optionally engages with a small flange (9421 ) at a bottom portion of a respective clamping piece (9420). This engagement optionally prevents the clamping piece (9420) from falling out of the inner header element (9400) and allows the clamping piece (9420) to pivot slightly around the small flange (9421 ), such that an internal locking face (9422) of the clamping piece (9420) can be pivoted towards or away from the core (9410).

[0462] According to the disclosure, each clamping piece (9420) optionally has an internal locking face (9422) and an outer surface (9423). The one or more preloading components (9430) are optionally configured to bias the clamping pieces (9420) away from the coreNexera Corp.(9410), i.e. into a pivoted-out position, thereby facilitating detachment of the inner header element (9400) from the shaft (9500). The preloading components (9430) may be springs or any other suitable elastic or biasing elements.

[0463] According to the disclosure, the locking sleeve (9440) optionally has one or more internal protrusions (9441 ) that engage with the one or more cam grooves (9411 ) on the core (9410). The interaction between the internal protrusions (9441 ) and the cam grooves (9411 ) optionally converts a rotational movement of the locking sleeve (9440) relative to the core (9410) into an axial translational movement of the locking sleeve (9440) along the core (9410), between a lower position corresponding to an unlocked state and a higher position corresponding to a locked state.

[0464] According to the disclosure, FIG. 57 is a diagram illustrating the inner header element (9400) with the locking sleeve (9440) removed and shown separately, to illustrate the arrangement of the clamping pieces (9420) relative to the core (9410) and the cam grooves (9411 ).

[0465] According to the disclosure, FIG. 58 is a diagram illustrating the locking process of the inner header element (9400), showing the transition between the unlocked state and the locked state. FIG. 59 is a diagram illustrating the inner header element (9400) in the unlocked state in cross-section view. FIG. 60 is a diagram illustrating the inner header element (9400) in the locked state in cross-section view.

[0466] According to the disclosure, in the unlocked state as illustrated in FIG. 59, the locking sleeve (9440) is optionally in a lower position, with the internal protrusions (9441 ) located near a lower end of the cam grooves (9411 ). In this state, the clamping pieces (9420) are optionally pivoted away from the core (9410) under the biasing force of the preloading components (9430). The outer surfaces (9423) of the clamping pieces (9420) optionally bear against a top rim of the locking sleeve (9440), thereby limiting the outward pivoting of the clamping pieces (9420). In the unlocked state, the internal locking faces (9422) of the clamping pieces (9420) optionally do not engage with the groove (9501 ) on the shaft (9500), such that the inner header element (9400) can be freely attached to or detached from the shaft (9500).

[0467] According to the disclosure, in the locked state as illustrated in FIG. 60, the locking sleeve (9440) is optionally rotated to a position in which the internal protrusions (9441 ) are located near an upper end of the cam grooves (9411 ) and optionally fall into the notchesNexera Corp.(9413) at the end of the cam grooves (9411 ). The notches (9413) optionally prevent the internal protrusions (9441 ) from sliding back along the cam grooves (9411 ) unintentionally, thereby providing a self-retaining locking function. In the locked state, the locking sleeve (9440) is optionally in a higher position, such that the top rim of the locking sleeve (9440) bears against the outer surfaces (9423) of the clamping pieces (9420) and forces the clamping pieces (9420) to pivot inward towards the core (9410), against the biasing force of the preloading components (9430). As a result, the internal locking faces (9422) of the clamping pieces (9420) optionally engage with the groove (9501 ) on the shaft (9500), thereby attaching the inner header element (9400) to the shaft (9500).

[0468] According to the disclosure, to transition the inner header element (9400) from the locked state back to the unlocked state, the locking sleeve (9440) is optionally lifted slightly in the axial direction, such that the internal protrusions (9441 ) are disengaged from the notches (9413). The locking sleeve (9440) is then optionally rotated such that the internal protrusions (9441 ) move along the cam grooves (9411 ) towards the lower end thereof, causing the locking sleeve (9440) to move to the lower position. As a result, the top rim of the locking sleeve (9440) is lowered, and the clamping pieces (9420) optionally pivot away from the core (9410) under the biasing force of the preloading components (9430), until their outer surfaces (9423) bear against the now-lowered top rim of the locking sleeve (9440). The inner header element (9400) is thereby returned to the unlocked state and can be detached from the shaft (9500).

[0469] According to the disclosure, the inner header element (9400) of this embodiment optionally further comprises a suction cup (9460) attached to or integrated with the inner header element (9400), for example at a bottom portion thereof. The suction cup (9460) is optionally configured to apply a suction force to an object (950) to be grasped by the gripping device (900). The inner header element (9400) optionally further comprises an inner cup support ring (9470) associated with the suction cup (9460). The inner cup support ring (9470) is optionally configured to support or reinforce the suction cup (9460). It will be appreciated that the suction cup (9460) and the inner cup support ring (9470) are each optional features that may be present individually or in any combination with the other features of this embodiment, and that the suction cup (9460) and the inner cup support ring (9470) may alternatively be provided as separate components of the gripping device (900) rather than as part of the inner header element (9400).Nexera Corp.

[0470] According to the disclosure, the features of the embodiment described with reference to FIG. 54 to FIG. 60 may be combined with any of the features described in the other embodiments herein, unless technically incompatible. In particular, the collet mechanism forming the inner attachment interface (700) as described with reference to FIG.56 to FIG. 60 may be combined with any outer attachment interface (400) described herein, and the clamp-type membrane attachment described with reference to FIG. 55 may be combined with any inner attachment interface (700) described herein.Nexera Corp.Reference signs10 Membrane module100 Deformable membrane101 Outer edge (of deformable membrane)102 Inner edge (of deformable membrane)200 Outer header element210 Outer header fluid passage300 Outer socket element301 Outer socket body302 Outer socket fluid passage (socket body level)303 Outer socket structural element / wall304 Outer socket base / flange305 Outer socket inner bore / guide surface310 Outer socket fluid passage311 Outer socket fluid port / opening400 Outer attachment interface410 Socket side outer attachment interface420 Socket side outer attachment interface (sub-element / locking ring) 440 Header side outer attachment interface452 Sealing element (outer socket, e.g. O-ring)500 Inner header element510 Inner header fluid passage511 Opening of inner header fluid passage600 Inner socket element610 Inner socket fluid passage700 Inner attachment interface710 Socket side inner attachment interface740 Header side inner attachment interface800 Inner suction cup805 Inner cup support ring810 Stopper element811 Stopper element tip / contact surface813 Stopper element base / mounting feature820 Inner suction cup assemblyNexera Corp.850 Outer suction cup860 Outer suction cup attachment assembly900 Gripping device910 Chamber (component of gripping device)920 Shaft (component of gripping device)950 Object (small / to be grasped by inner suction cup)960 Object (large / to be grasped by outer suction cup)9100 Chamber space9200 Shaft space9590 Framing structure9641 Chamber actuating mechanism9642 Shaft actuating mechanism9650 Chamber pressure mechanism9800 Robotic manipulator9850 Controller9900 Detection device1000 Radial ball lock mechanism (inner attachment interface) 1001 Inner socket body1002 Inner locking sleeve1003 Outer locking sleeve1004 Unlocking lever1005 Through hole (in wall of inner socket body, for locking element) 1006 Locking element (ball)1007 Spring (for locking element / ball)1008 Conical step (on outer locking sleeve)1010 Spring (for inner locking sleeve)1011 Spring (for outer locking sleeve)1020 Axle I pivot (for unlocking lever)1040 Axle fixed on inner socket body (for unlocking lever rotation) 1041 Inner end surface of outer locking sleeve1042 Outer end surface / protrusion of outer locking sleeve1050 Enclosure (of inner socket element)1051 Sealing surface (of enclosure)1101 Core (of header side inner attachment interface)1102 Locking groove (on core)Nexera Corp.1103 Sealing structure (e.g. O-ring, on inner header element) 1104 Tube connector1105 Stem (of inner suction cup)1200 Disconnection rod / release tool1201 Engagement tip (of disconnection rod)1203 Socket tool (for bayonet detachment)1204 Socket tool engagement feature2000 Latching mechanism (inner attachment interface)2001 Latch body / socket-side latch housing2002 Flexible latch arm2003 Latch catch / engagement feature (socket side)2004 Latch guide / socket body2005 Latch release element2101 Header-side latch body2102 Header-side latch engagement feature2103 Header-side latch housing2104 Header-side latch arm2105 Header-side latch tip / contact surface2106 Header-side latch guide2140 Latch spring / preload element2200 Latch locking element / detent2201 Latch locking sub-element3000 Preloaded bayonet lock mechanism (inner attachment interface) 3002 Bayonet socket body3005 Bayonet locking element / pin (socket side)3007 Bayonet spring (socket side)3008 Bayonet channel / slot (socket side)3009 Bayonet guide / stop (socket side)3010 Bayonet locking sleeve (socket side)3011 Bayonet spring (locking sleeve)3012 Bayonet end stop / protrusion (socket side)3101 Bayonet pin / lug (header side)3102 Bayonet slot / channel (header side)3200 Bayonet preload spring (header side)3201 Bayonet locking element (header side)Nexera Corp.3202 Bayonet outer sleeve (socket side)5000 Radial ball lock with lifting sleeve mechanism (outer attachment interface) 5110 Outer socket body (mechanism 5000)5111 Outer socket body inner bore (mechanism 5000)5120 Lifting sleeve (mechanism 5000)5121 Lifting sleeve guide (mechanism 5000)5122 Lifting sleeve stop (mechanism 5000)5123 Lifting sleeve spring seat (mechanism 5000)5124 Lifting sleeve lower end (mechanism 5000)5125 Lifting sleeve upper end (mechanism 5000)5130 Locking ring / retaining ring (mechanism 5000)5131 Locking ring inner surface (mechanism 5000)5132 Locking ring outer surface (mechanism 5000)5133 Locking ring upper flange (mechanism 5000)5134 Locking ring lower flange (mechanism 5000)5135 Locking ring spring seat (mechanism 5000)5136 Locking ring guide (mechanism 5000)5140 Locking element / ball (mechanism 5000)5141 Ball seat / through hole (mechanism 5000)5142 Ball retainer (mechanism 5000)5150 Spring (lifting sleeve, mechanism 5000)5160 Sealing element (mechanism 5000)5170 Outer socket housing / cover (mechanism 5000)6000 Tangential ball lock with rotating sleeve mechanism (outer attachment interface) 6110 Outer socket body (mechanism 6000)6111 Outer socket body inner bore (mechanism 6000)6120 Rotating sleeve (mechanism 6000)6121 Rotating sleeve guide (mechanism 6000)6123 Rotating sleeve spring seat (mechanism 6000)6125 Rotating sleeve stop (mechanism 6000)6130 Locking ring / cam ring (mechanism 6000)6131 Cam ring inner surface (mechanism 6000)6132 Cam ring outer surface (mechanism 6000)6133 Cam ring guide (mechanism 6000)6142 Ball retainer / seat (mechanism 6000)Nexera Corp.6150 Locking element / ball (mechanism 6000)6160 Spring (rotating sleeve, mechanism 6000)6170 Unlocking cam (mechanism 6000)6180 Cam follower I engagement element (mechanism 6000)6181 Cam follower pin (mechanism 6000)6182 Cam follower spring (mechanism 6000)6184 Cam surface (mechanism 6000)6185 Cam stop (mechanism 6000)7000 Radial ball lock with rotating sleeve mechanism (outer attachment interface) 7110 Outer socket body (mechanism 7000)7111 Outer socket body inner bore (mechanism 7000)7120 Rotating sleeve (mechanism 7000)7122 Rotating sleeve guide (mechanism 7000)7125 Rotating sleeve stop (mechanism 7000)7130 Locking ring I cam ring (mechanism 7000)7131 Cam ring inner surface (mechanism 7000)7132 Cam ring outer surface (mechanism 7000)7133 Cam ring guide element (mechanism 7000)7134 Cam ring spring seat (mechanism 7000)7140 Locking element / ball (mechanism 7000)7141 Ball seat / through hole (mechanism 7000)7142 Ball retainer (mechanism 7000)7150 Spring (rotating sleeve, mechanism 7000)7160 Sealing element (mechanism 7000)7170 Outer socket housing I cover (mechanism 7000)7180 Unlocking cam (mechanism 7000)7181 Cam follower pin (mechanism 7000)7182 Cam follower spring (mechanism 7000)7183 Cam surface (mechanism 7000)7184 Cam follower engagement element (mechanism 7000)7185 Cam stop (mechanism 7000)8000 Bayonet lock with rotating sleeve mechanism (outer attachment interface) 8110 Outer socket body (mechanism 8000)8120 Rotating sleeve (mechanism 8000)8122 Rotating sleeve guide I lug (mechanism 8000)Nexera Corp.8123 Rotating sleeve stop (mechanism 8000)8130 Bayonet locking ring (mechanism 8000)8131 Bayonet locking ring inner feature (mechanism 8000)8132 Bayonet locking ring outer feature (mechanism 8000)9300 Outer header element (embodiment of FIG. 54-60)9301 Base part (of outer header element 9300)9302 Clamping part (of outer header element 9300)9303 Latching tap (of clamping part 9302)9304 Protrusion (of base part 9301 )9310 Deformable membrane (embodiment of FIG. 54-60)9311 Thickened section (on outer edge of deformable membrane 9310)9400 Inner header element with collet-type inner attachment interface (embodiment of FIG. 54-60)9410 Core (of inner header element 9400)9411 Cam groove(s) (on core 9410)9412 Collar (on core 9410)9413 Notch(es) at end of cam groove(s) 94119420 Clamping piece(s) (of inner header element 9400)9421 Small flange (at bottom of clamping piece 9420)9422 Internal locking face(s) (of clamping piece 9420)9423 Outer surface(s) (of clamping piece 9420)9430 Preloading component(s) / spring(s) (of inner header element 9400)9440 Locking sleeve (of inner header element 9400)9441 Internal protrusion(s) (on locking sleeve 9440)9450 Bottom cap (of inner header element 9400)9460 Suction cup (of inner header element 9400)9470 Inner cup support ring (of inner header element 9400)9500 Shaft (embodiment of FIG. 54-60)9501 Groove (on external surface of shaft 9500)

Claims

Nexera Corp.Claims1. A membrane module (10) for a gripping device (900), the membrane module (10) comprising:- a deformable membrane (100) in the form of an open surface having an outer edge (101 ) and at least one hole defining an inner edge (102);- an outer header element (200) to which the outer edge (101 ) of the deformable membrane (100) is attached;- an outer socket element (300) configured to be attached to one or more components (910) of the gripping device (900), wherein the outer header element (200) is attachable to and detachable from the outer socket element (300) by an outer attachment interface (400);- an inner header element (500) to which the inner edge (102) of the deformable membrane (100) is attached;- an inner socket element (600) configured to be attached to one or more components (920) of the gripping device (900), wherein the inner header element (500) is attachable to and detachable from the inner socket element (600) by an inner attachment interface (700);- at least one outer header fluid passage (210) on the outer header element (200) and at least one outer socket fluid passage (310) on the outer socket element (300), wherein, when the outer header element (200) is attached to the outer socket element (300), each outer header fluid passage (210) forms a hermetic connection with one outer socket fluid passage (310); and- at least one inner header fluid passage (510) on the inner header element (500) and at least one inner socket fluid passage (610) on the inner socket element (600), wherein, when the inner header element (500) is attached to the inner socket element (600), each inner header fluid passage (510) forms a hermetic connection with one inner socket fluid passage (610),- wherein the deformability of the deformable membrane (100) allows the outer socket element (300) to move relative to the inner socket element (600) under the effect of relative movement between the components (910) and (920) of the gripping device (900).Nexera Corp.

2. The membrane module (10) according to claim 1 , wherein at least one of the outer attachment interface (400) and / or the inner attachment interface (700) has a passive and / or active locking design, based on a mechanical, electrical, and / or magnetic connection.

3. The membrane module (10) according to claim 1 , wherein at least one of the outer attachment interface (400) and the inner attachment interface (700) is a mechanical attachment interface, in particular a snap-fit mechanism, a latching mechanism (2000), a preloaded bayonet lock mechanism (3000), a radial ball lock mechanism (7000), a radial ball lock with rotating sleeve mechanism (5000), a tangential ball lock with rotating sleeve mechanism (6000), a bayonet lock with rotating sleeve mechanism (8000), a screw mechanism, or a clamp mechanism.

4. The membrane module (10) according to any one of claims 1 to 3, wherein the outer attachment interface (400) and the inner attachment interface (700) are configured for attachment and detachment without the use of tools.

5. The membrane module (10) according to any one of claims 1 to 4, wherein the deformable membrane (100) is made of an elastic material, in particular silicone, rubber, or an elastomer.

6. The membrane module (10) according to any one of claims 1 to 5, wherein the deformable membrane (100) has a dome shape.

7. The membrane module (10) according to any one of claims 1 to 6, further comprising a stopper element (810) configured to limit deformation of the deformable membrane (100).

8. The membrane module (10) according to any one of claims 1 to 7, further comprising an inner suction cup (800) attached to the inner header element (500) or the inner socket element (600), the inner suction cup (800) being configured to form a seal against an object when the at least one inner header fluid passage (510) is depressurized.

9. The membrane module (10) according to any one of claims 1 to 8, further comprising an outer suction cup (850) surrounding the membrane module (10) on its outer perimeter, the outer suction cup (850) being attached to one of the outer header element (200), the outer socket element (300), or one or more components (910) of theNexera Corp.gripping device (900), and the outer suction cup (850) being configured to form a seal against an object or a surface such that, when the at least one outer header fluid passage (210) is depressurized, a suction force against the object or surface is created.

10. The membrane module (10) according to claim 1 , wherein the inner attachment interface (700) comprises a collet mechanism having a core (9410), one or more clamping pieces (9420) pivotably arranged about the core (9410), and a locking element (9440) movable relative to the core (9410) between an unlocked position in which the one or more clamping pieces (9420) are pivoted away from the core (9410) and a locked position in which the locking element (9440) forces the one or more clamping pieces (9420) to pivot towards the core (9410) so as to engage a groove (9501 ) on the inner socket element (600).11 . The membrane module (10) according to claim 10, wherein the locking element is a locking sleeve (9440) rotatable relative to the core (9410), the core (9410) having one or more cam grooves (9411 ) each terminating in a notch (9413), the locking sleeve (9440) having one or more internal protrusions (9441 ) slidable along the cam grooves (9411 ), wherein in the locked position the internal protrusions (9441 ) are received in the notches (9413) so as to prevent the locking sleeve (9440) from rotating back to the unlocked position.

12. The membrane module (10) according to claim 10 or 11 , further comprising one or more preloading components (9430) configured to bias the one or more clamping pieces (9420) away from the core (9410) towards the unlocked position.

13. The membrane module (10) according to any one of claims 1 to 12, wherein the outer header element (200) comprises a base part (9301 ) and a clamping part (9302), the deformable membrane (100) having a thickened section (9311 ) on the outer edge (101 ), the thickened section (9311 ) being clamped between the base part (9301 ) and the clamping part (9302), and the clamping part (9302) being secured to the base part (9301 ) by at least one latching tap (9303) engaging at least one protrusion (9304) on the base part (9301 ).

14. A gripping device (900), comprising:- a chamber (910) delimiting, at least in part, a chamber space (9100);- a shaft (920) defining a shaft space (9200), the shaft (920) being movable relative to the chamber (910);Nexera Corp.- a membrane module (10) comprising:- a deformable membrane (100) having an outer edge (101 ) and an inner edge (102),- an outer header element (200) to which the outer edge (101 ) is attached,- an outer socket element (300) attached to the chamber (910),- an inner header element (500) to which the inner edge (102) is attached, and - an inner socket element (600) attached to the shaft (920),- wherein the outer header element (200) is attachable to and detachable from the outer socket element (300), and the inner header element (500) is attachable to and detachable from the inner socket element (600), and- wherein the deformable membrane (100) accommodates relative movement between the chamber (910) and the shaft (920);- a chamber pressure mechanism (9650) in fluid communication with the chamber space (9100), the chamber pressure mechanism (9650) being configured to pressurize or depressurize the chamber space (9100) so as to deform the deformable membrane (100); and- a shaft pressure mechanism in fluid communication with the shaft space (9200), the shaft pressure mechanism being configured to depressurize or pressurize the shaft space (9200).

15. The gripping device (900) according to claim 14, wherein the chamber space (9100) is at least partially filled with a medium comprising a gas, a liquid, or a combination thereof.

16. The gripping device (900) according to claim 14 or claim 15, wherein the membrane module (10) further comprises a stopper element (810) configured to limit deformation of the deformable membrane (100).

17. The gripping device (900) according to any one of claims 14 to 16, wherein the membrane module (10) further comprises an inner suction cup (800) attached to the inner header element (500) or the inner socket element (600), the inner suction cup (800) being configured to form a seal against an object when the shaft space (9200) is depressurized by the shaft pressure mechanism.

18. The gripping device (900) according to any one of claims 14 to 17, wherein at least one of the outer attachment interface (400) and / or the inner attachment interface (700) has aNexera Corp.passive and / or active locking design, based on a mechanical, electrical, and / or magnetic connection.

19. The gripping device (900) according to any one of claims 14 to 18, further comprising a chamber actuating mechanism (9641 ) configured to move the chamber (910) relative to the shaft (920).

20. The gripping device (900) according to any one of claims 14 to 19, further comprising a shaft actuating mechanism (9642) configured to move the shaft (920) relative to the chamber (910).21 . The gripping device (900) according to any one of claims 14 to 20, wherein the gripping device (900) is configured to adapt at least one of a position of the chamber (910), a position of the shaft (920), and a pressure set point of the chamber pressure mechanism (9650) based on at least one property of the object, the at least one property being selected from shape, size, weight, surface texture, and compliance.

22. The gripping device (900) according to claim 21 , further comprising a controller configured to control at least one of the chamber pressure mechanism (9650), the shaft pressure mechanism, a chamber actuating mechanism (9641 ), and a shaft actuating mechanism (9642) based on the at least one property of the object.

23. The gripping device (900) according to any one of claims 14 to 22, further comprising a framing structure (9590) configured to support and position the gripping device (900), in particular a robotic arm or a manipulator.

24. The gripping device (900) according to claim 14, wherein the inner header element (500) is attachable to and detachable from the inner socket element (600) by a collet mechanism comprising a core (9410), one or more clamping pieces (9420) pivotably arranged about the core (9410), and a locking element (9440) movable between an unlocked position and a locked position, wherein in the locked position the locking element (9440) forces the one or more clamping pieces (9420) inward to engage a groove (9501 ) on the shaft (920).

25. The gripping device (900) according to claim 24, wherein the locking element is a locking sleeve (9440) rotatable relative to the core (9410), the core (9410) having one or more cam grooves (9411 ) each terminating in a notch (9413), the locking sleeve (9440)Nexera Corp.having one or more internal protrusions (9441 ) receivable in the notches (9413) in the locked position so as to provide self-locking.

26. The membrane module (10) according to claim 1 or a gripping device (900) according to claim 14, wherein the outer attachment interface (400) comprises a locking structure that locks the outer header element (200) and the outer socket element (300) in place after a socket side outer attachment interface (410) and a header side outer attachment interface (440) are put together, and / or wherein the inner attachment interface (700) comprises a locking structure that locks the inner header element (500) and the inner socket element (600) in place after a socket side inner attachment interface (710) and a header side inner attachment interface (740) are put together.

27. The membrane module (10) or gripping device (900) according to claim 26, wherein the application of at least a force or a torque to at least a component on the membrane module (10) enables rapid unlocking of the outer header element (200) and the outer socket element (300) and / or rapid unlocking of the inner header element (500) and the inner socket element (600).

28. The membrane module (10) according to claim 1 or a gripping device (900) according to claim 14, wherein an inner connecting element connects the inner header element (500) and the inner socket element (600), the inner connecting element has a passive and / or active locking design, based on a mechanical, electrical, and / or magnetic connection.

29. A method of gripping an object by a gripping device (900) comprising a membrane module (10), the membrane module (10) comprising a deformable membrane (100) having an outer edge (101 ) attached to an outer header element (200) and an inner edge (102) attached to an inner header element (500), the outer header element (200) being attached to an outer socket element (300) by an outer attachment interface (400), the inner header element (500) being attached to an inner socket element (600) by an inner attachment interface (700), the membrane module (10) further comprising at least one inner header fluid passage (510) forming a hermetic connection with at least one inner socket fluid passage (610), the method comprising:- moving the gripping device (900) towards the object; and- gripping the object by at least one of:Nexera Corp.- (a) deforming the deformable membrane (100) to conform to a shape of the object, and- (b) depressurizing the inner header fluid passage (510) to create a suction force against the object.

30. The method according to claim 29, wherein gripping the object comprises deforming the deformable membrane (100) to conform to a shape of the object by pressurizing a chamber space (9100) of the gripping device (900) via a chamber pressure mechanism (9650).31 . The method according to claim 29 or claim 30, wherein gripping the object comprises depressurizing a shaft space (9200) of the gripping device (900) via a shaft pressure mechanism to create a suction force at an inner suction cup (800) or at the at least one inner header fluid passage (510).

32. The method according to any one of claims 29 to 31 , wherein gripping the object comprises both deforming the deformable membrane (100) to conform to a shape of the object and depressurizing the at least one inner header fluid passage (510) to create a suction force against the object, simultaneously or sequentially.

33. The method according to any one of claims 29 to 32, wherein gripping the object comprises depressurizing the at least one outer header fluid passage (210) to create a suction force at an outer suction cup (850) arranged on an outer perimeter of the membrane module (10), such that the outer suction cup (850) forms a seal against the object.

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