A vacuum powered pickup tool with mechanically moveable discrete nozzles allows for selective activation of the nozzles through the mechanical movement of the nozzles relative to a vacuum manifold. The movement of a nozzle from an inactive position where an inlet port of the nozzle is fluidly decoupled with the vacuum manifold to an active position where the inlet port is fluidly coupled with the vacuum manifold allows for independent activation of discrete nozzles of the pickup tool. Aspects also contemplate varying an associate manifold through movement of the manifolds accessible to the inlet port of the nozzle when in the active position.

A vacuum adsorption module includes a supporting block, a carrier installed and positioned on the supporting block, and a plurality of valves installed on the supporting block. The supporting block has a plurality of air connection holes, each row of air connection holes is connected to a total air path formed in the supporting block via a branch air path formed in the supporting block. The carrier has a plurality of air suction holes corresponding to the air connection holes. The valves control closing and opening of the branch air paths between the plurality of rows of air connection holes and the total air path. An adsorption length of the carrier in a column direction of the array is adjustable to match a length of an article to be adsorbed by the carrier by changing a number of the valves to be closed or opened.

A gripper device (100) for maintaining, centring, and/or clamping a micromechanical or horological component (200) in a clamping chamber defined by a clamp including at least one mobile jaw (2). At least a part of the mobile jaws (2) includes a reference surface (20) for frontal bearing of a component (200), and the gripper device (100) includes a vacuum generator (60) for creating the vacuum in the clamping chamber. Also, a method for fastening a micromechanical or horological component (200) in the clamping chamber of such a gripper device (100) according to which the component (200) is disposed on the reference surface (20), then a first maintaining by vacuum is carried out, then a second maintaining having a torque greater than that of the first maintaining by pivoting of the mobile jaws (2).

Multi-chamber suction cups, robotic gripper elements including the same and sensing methods are provided. A multi-chamber suction cup includes a single bellows suction cup structure, and at least one internal wall defining at least two internal chambers within the single bellows suction cup structure, each of the at least two internal chambers sharing a common port for connecting to a common vacuum source, and each of the at least two internal chambers including a port for connecting to separate pressure transducers. Using the novel suction cups, novel haptic exploration methods may be implemented that can estimate the surface texture of an object and the surface normal of a curved object using sliding and palpation motion, respectively. The suction cup can also be used to localize breaks in the suction seal when the suction cup is about to detach from an object.

An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

Systems and methods are provided for utilizing enhanced vacuum gripping techniques. One embodiment is a method that includes locating an array of valves for an end effector, selectively switching valves within the array between open states and closed states based on a shape of a work piece that the end effector will transport, selectively applying vacuum through a plurality of valves in a shape that corresponds with the shape of the work piece, disposing the end effector at the work piece while the vacuum is applied to grip the work piece, and picking up the work piece by moving the end effector while the vacuum is applied.

A method for controlling the operation of a vacuum material handler providing secure communication between the wireless remote control and the receiver of a controller on the vacuum material handler. The method providing a haptic confirmation of a valid command. The method also providing a battery life extending sleep mode when left inactive for a predetermined length of time. The method further including a pendant remote in communication with the wireless remote control. The pendant remote being operable to command the vacuum material handler.

A system is disclosed for providing dynamic vacuum control to an end effector of an articulated arm. The system includes a first vacuum source for providing a first vacuum pressure with a first maximum air flow rate, and a second vacuum source for providing a second vacuum pressure with a second maximum air flow rate, wherein the second vacuum pressure is higher than the first vacuum pressure and wherein the second maximum air flow rate is greater than the first maximum air flow rate.

A system and method for printing on a multi-dimensional object includes at least one print head configured to eject marking material onto a surface of the multi-dimensional object, a support member positioned parallel to a plane formed by the at least one print head, and an object holder. The object holder includes a moving frame configured to traverse the support member, at least one granule-filled collapsible membrane configured to be retained within the moving frame and at least partially collapsible around the multi-dimensional object when a volume of air is withdrawn therefrom, and at least one inflatable bladder associated with the moving frame and configured to be inflated to retain the at least one collapsible membrane within the moving frame when air is withdrawn from the at least one collapsible membrane.

A mobile manipulator robot for retrieving inventory items from a storage system. The robot includes a body, a wheel assembly, a sensor to locate a position of the robot within the storage system, an interface configured to send processor readable data to a remote processor and to an operator interface, and receive processor executable instructions from the remote processor and from the operator interface, an imaging device to capture images of the inventory items, a picking manipulator, first and second pneumatic gripping elements for grasping the inventory items, and a coupler configured to mate with a valve to access a pneumatic supply for operating at least one of the first or second pneumatic gripping elements. The robot is configured to transition the valve from a closed condition to an open condition and selectively place one of the first or the second pneumatic gripping elements in communication with the pneumatic supply.