Systems and methods for providing dynamic vacuum pressure at an end effector using a single vacuum source

Patent metadata

Field	Value
Publication number	US-10814498-B2
Application number	US-201816182007-A
Country	US
Kind code	B2
Filing date	Nov 6, 2018
Priority date	Nov 7, 2017
Publication date	Oct 27, 2020
Grant date	Oct 27, 2020

Abstract

A system including a programmable motion device and an end effector for grasping objects to be moved by the programmable motion device is disclosed. The system includes a vacuum source that provides a high flow vacuum such that an object may be grasped at an end effector opening while permitting a substantial flow of air through the opening, and a dead-head limitation system for limiting any effects of dead-heading on the vacuum source in the event that a flow of air to the vacuum source is interrupted.

First claim

What is claimed is:

1. A system including a programmable motion device and an end effector for grasping objects to be moved by the programmable motion device, said system comprising:
a vacuum source that provides a vacuum such that an object is grasped at an end effector opening while permitting a flow of air through the end effector opening; and
a dead-head limitation system for limiting any effects of dead-heading on the vacuum source in the event that the flow of air from the end effector opening to the vacuum source is interrupted,
wherein the dead-head limitation system comprises a valve that is disposed inline between the vacuum source and the end effector opening and provides a plurality of channels defined therethrough,
wherein the valve is actuatable to provide the vacuum by aligning at least one channel of the plurality of channels defined through the valve such that the at least one channel couples the end effector opening to the vacuum source, and
wherein the valve is actuatable to limit any effects of dead-heading on the vacuum source by aligning a first channel of the plurality of channels defined through the valve such that the first channel couples the vacuum source to the atmosphere and aligning a second channel of the plurality of channels defined through the valve such that the second channel couples the end effector opening to the atmosphere.

2. The system as claimed in claim 1 , wherein the vacuum source includes a side-channel blower.

3. The system as claimed in claim 1 , wherein the valve is any of a linear valve or a rotary valve.

4. The system as claimed in claim 1 , wherein the dead-head limitation system limits a period of time that a seal is formed with the object.

5. The system as claimed in claim 1 , wherein the dead-head limitation system requires that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

6. The system as claimed in claim 1 , wherein the dead-head limitation system further includes a relief valve.

7. The system as claimed in claim 6 , wherein the relief valve is coupled to a coolant source.

8. The system as claimed in claim 1 , wherein the dead-head limitation system includes a cooling system that is independent of the vacuum source itself.

9. The system as claimed in claim 1 , wherein said dead-head limitation system further includes a control processor.

10. The system as claimed in claim 9 , wherein the control processor limits an amount of time that the flow of air to the vacuum source is interrupted by controlling an order of selection of objects to be grasped, said objects including high-flow-seal objects that the control processor associates with a high air flow seal, and no-air-flow-seal objects that the control processor associates with a seal having substantially no air flow.

11. The system as claimed in claim 9 , wherein the control processor limits an amount of time that the flow of air to the vacuum source is interrupted by controlling a period of time that the object is grasped.

12. The system as claimed in claim 1 , wherein the at least one channel that couples the end effector opening to the vacuum source is the second channel defined through the valve.

13. The system as claimed in claim 1 , wherein the at least one channel that couples the end effector opening to the vacuum source is a third channel defined through the valve.

14. A method of moving an object using a programmable motion device and a vacuum end effector-for grasping at an end effector opening objects to be moved by the programmable motion device, said method comprising:
providing a vacuum by actuating a valve disposed inline between a vacuum source and the vacuum end effector, wherein the valve is actuated to provide the vacuum by aligning at least one channel of a plurality of channels defined through the valve such that the at least one channel couples the end effector opening to the vacuum source;
grasping an object at the end effector opening using the vacuum provided by the vacuum source; and
limiting any effects of dead-heading on the vacuum source by actuating the valve to release the object, wherein the valve is actuated to release the object by aligning a first channel of the plurality of channels defined through the valve to couple the vacuum source to the atmosphere and aligning a second channel of the plurality of channels defined through the valve to couple the end effector opening to the atmosphere.

15. The method as claimed in claim 14 , wherein limiting my effects of dead-heading on the vacuum source includes limiting a period of time that a seal is formed with the object.

16. The method as claimed in claim 14 , wherein limiting my effects of dead-heading on the vacuum source includes requiring that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

17. The method as claimed in claim 14 , wherein grasping an object at the end effector opening using the vacuum provided by the vacuum source includes grasping a non-sealing object at the end effector opening using the vacuum, such that a partial seal is provided between the non-sealing object and the end effector opening.

18. The method as claimed in claim 14 , wherein grasping an object at the end effector opening using the vacuum provided by the vacuum source includes grasping a sealing object at the end effector opening using the vacuum, such that a complete seal is provided between the sealing object and the end effector opening.

19. The method as claimed in claim 14 , wherein the at least one channel that couples the end effector opening to the vacuum source is the second channel defined through the valve.

20. The method as claimed in claim 14 , wherein the at least one channel that couples the end effector opening to the vacuum source is a third channel defined through the valve.

21. A method of moving an object using a programmable motion device and a vacuum end effector for grasping at an end effector opening objects to be moved by the programmable motion device, said method comprising:
providing a vacuum by actuating a valve disposed inline between a vacuum source and the vacuum end effector, wherein the valve is actuated to provide the vacuum by aligning at least one channel of a plurality of channels defined through the valve such that the at least one channel couples the end effector opening to the vacuum source;
grasping an object at the end effector opening using the vacuum provided by the vacuum source; and
cooling the vacuum source by actuating the valve to release the object, wherein the valve is actuated to release the object by aligning a first channel of the plurality of channels defined through the valve to couple the vacuum source to the atmosphere and aligning a second channel of the plurality of channels defined through the valve to couple the end effector opening to the atmosphere.

22. The method as claimed in claim 21 , wherein cooling the vacuum source includes limiting a period of time that a seal is formed with the object.

23. The method as claimed in claim 21 , wherein cooling the vacuum source includes requiring that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

24. The method as claimed in claim 21 , wherein grasping an object at the end effector opening using the vacuum provided by the vacuum source includes grasping a non-sealing object at the end effector opening using the vacu

Assignees

• Berkshire Grey Inc

Inventors

• Wagner Thomas
• Ahearn Kevin
• Amend Jr John Richard
• Cohen Benjamin
• DAWSON-HAGGERTY Michael
• Fort William Hartman
• GEYER Christopher
• King Jennifer Eileen
• Koletschka Thomas
• Koval Michael Cap
• MARONEY Kyle
• Mason Matthew T
• McMahan William Chu-Hyon
• Price Gene Temple
• Romano Joseph
• Smith Daniel
• SRINIVASA Siddhartha
• Velagapudi Prasanna
• Allen Thomas

Classifications

• B25J15/065

  provided with separating means for releasing the gripped object after suction · CPC title

• B65G47/917

  control arrangements · CPC title

• B66C1/0218

  Safety measures, e.g. sensors, duplicate functions · CPC title

• B65G47/91

  incorporating pneumatic, e.g. suction, grippers · CPC title

• B66C1/02

  by suction means {(suction cups for attaching purposes F16B47/00)} · CPC title