SYSTEMS AND METHODS FOR PROVIDING DYNAMIC VACUUM PRESSURE AT AN END EFFECTOR USING A SINGLE VACUUM SOURCE

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.

Claims

1.-23. (canceled)

24. A method of processing objects comprising: providing a programmable motion device including an end effector with a vacuum cup that is coupled via a valve to a high flow vacuum source; providing a plurality of heterogenous objects to be grasped by the vacuum cup, each object being associated with a quality of a vacuum seal that the vacuum cup is known to form with the vacuum cup; actuating a valve disposed inline between a vacuum source and the vacuum cup to provide a vacuum at the vacuum cup; and selecting a sequence of the plurality of heterogenous objects to be grasped by the end effector based on the quality of the vacuum seal formed between the vacuum cup and each of the plurality of heterogenous objects such that objects known to form a good seal with the vacuum cup are not chosen for processing successively.

25. The method as claimed in claim 24, wherein the method further includes estimating a temperature of the high flow vacuum source.

26. The method as claimed in claim 25, wherein the estimating a temperature of the high flow source is responsive to recent history of pressure, flow and vacuum source control signals as well as valve control signals, in combination with knowledge of high flow vacuum source thermal properties.

27. The method as claimed in claim 24, wherein the method further includes limiting a period of time that a seal is formed with an object that is associated with a good seal.

28. The method as claimed in claim 24, wherein the method further includes requiring that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

29. The method as claimed in claim 24, wherein the high flow vacuum source includes a side-channel blower.

30. The method as claimed in claim 24, wherein the valve is any of a linear valve or a rotary valve.

31. The method as claimed in claim 24, wherein the method further includes providing a relief valve for providing cooling fluid to the high flow vacuum source.

32. The method as claimed in claim 31, wherein the relief valve is coupled to a coolant source, where the relief valve is responsive to sensed pressure, flow, temperature or time.

33. The method as claimed in claim 24, wherein the method further includes providing via a sensor at the end effector any of flow sensor data, pressure sensor data, force sensor data and temperature sensor data.

34. A method of processing objects comprising: providing a programmable motion device including an end effector with a vacuum cup that is coupled via a valve to a high flow vacuum source; providing a plurality of heterogenous objects to be grasped by the vacuum cup, each object being associated with a quality of a vacuum seal that the vacuum cup is known to form with the vacuum cup; actuating a valve disposed inline between a vacuum source and the vacuum cup to provide a vacuum at the vacuum cup; choosing a first object of the plurality of heterogenous objects for processing with programmable motion device that is known to form a good seal with the vacuum cup; and subsequently choosing a second object of the plurality of heterogenous objects for processing with the programmable motion device that is known to form a poor seal with the vacuum cup.

35. The method as claimed in claim 34, wherein the method further includes estimating a temperature of the high flow vacuum source.

36. The method as claimed in claim 35, wherein the estimating a temperature of the high flow source is responsive to recent history of pressure, flow and vacuum source control signals as well as valve control signals, in combination with knowledge of high flow vacuum source thermal properties.

37. The method as claimed in claim 34, wherein the method further includes limiting a period of time that a seal is formed with an object that is associated with a good seal.

38. The method as claimed in claim 34, wherein the method further includes requiring that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

39. The method as claimed in claim 34, wherein the high flow vacuum source includes a side-channel blower.

40. The method as claimed in claim 34, wherein the valve is any of a linear valve or a rotary valve.

41. The method as claimed in claim 34, wherein the method further includes providing a relief valve for providing cooling fluid to the high flow vacuum source.

42. The method as claimed in claim 41, wherein the relief valve is coupled to a coolant source, where the relief valve is responsive to sensed pressure, flow, temperature or time.

43. The method as claimed in claim 34, wherein the method further includes providing via a sensor at the end effector any of flow sensor data, pressure sensor data, force sensor data and temperature sensor data.

44. An object processing system comprising: a programmable motion device including an end effector with a vacuum cup that is coupled via a valve to a high flow vacuum source; a plurality of heterogenous objects to be grasped by the vacuum cup, each object being associated with a quality of a vacuum seal that the vacuum cup is known to form with the vacuum cup; a valve disposed inline between a vacuum source and the vacuum cup to provide a vacuum at the vacuum cup; and a control system for reducing effects of dead-heading on the high flow vacuum source by selecting a sequence of the plurality of heterogenous objects to be grasped by the end effector based on the quality of the vacuum seal formed between the vacuum cup and each of the plurality of heterogenous objects such that objects known to form a good seal with the vacuum cup are not chosen for processing successively.

45. The object processing system as claimed in claim 44, wherein the control system further estimates a temperature of the high flow vacuum source.

46. The object processing system as claimed in claim 45, wherein the temperature of the high flow source is estimated responsive to recent history of pressure, flow and vacuum source control signals as well as valve control signals, in combination with knowledge of high flow vacuum source thermal properties.

47. The object processing system as claimed in claim 44, wherein the control system further limits a period of time that a seal is formed with an object that is associated with a good seal.

48. The object processing system as claimed in claim 44, wherein the control system further requires that the flow of air to the vacuum source occur for a minimum period of time between picking objects.

49. The object processing system as claimed in claim 44, wherein the high flow vacuum source includes a side-channel blower.

50. The object processing system as claimed in claim 44, wherein the valve is any of a linear valve or a rotary valve.

51. The object processing system as claimed in claim 44, wherein the system further includes a relief valve for providing cooling fluid to the high flow vacuum source.

52. The object processing system as claimed in claim 51, wherein the relief valve is coupled to a coolant source, where the relief valve is responsive to sensed pressure, flow, temperature or time.

53. The object processing system as claimed in claim 44, wherein the system further includes a sensor at the end effector for providing any of flow sensor data, pressure sensor data, force sensor data and temperature sensor data.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The following description may be further understood with reference to the accompanying drawings in which:

[0016] FIG. 1 shows an illustrative graphical representation of the performance of different vacuum sources;

[0017] FIG. 2 shows an illustrative diagrammatic view of side channel blower for use in accordance with an embodiment of the present invention;

[0018] FIGS. 3A and 3B show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a linear valve;

[0019] FIGS. 4A and 4B show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a linear valve with two channels;

[0020] FIG. 5 shows an illustrative graphical representation of exhaustion rate verses time in a system in accordance with an embodiment of the present invention;

[0021] FIGS. 6A and 6B show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a linear valve with three channels;

[0022] FIGS. 7A-7D show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a rotary valve;

[0023] FIGS. 8A and 8B show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a linear valve and a relief valve;

[0024] FIGS. 9A and 9B show illustrative diagrammatic views of a system in accordance with an embodiment of the present invention using a rotary valve and a relief valve;

[0025] FIG. 10 shows an illustrative diagrammatic view of a plurality of different objects to be processed in a bin;

[0026] FIG. 11 shows an illustrative diagrammatic view of objects being successively processed in a system in accordance with an embodiment of the present invention;

[0027] FIG. 12 shows an illustrative diagrammatic view of blower cooling systems in accordance with an embodiment of the present invention;

[0028] FIG. 13 shows an illustrative diagrammatic view of an end effector for use in accordance with a system of the invention that includes an internal sensor; and

[0029] FIG. 14 shows an illustrative diagrammatic view of a control system for use in a system in accordance with an embodiment of the present invention.

[0030] The drawings are shown for illustrative purposes only.

DETAILED DESCRIPTION

[0031] The invention provides a hybrid gripper, e.g., one that employs either high vacuum or high flow depending on circumstances. One approach is to provide two different vacuum sources for the device, a high vacuum source such as a Venturi source and a high flow source such as a blower. FIG. 1 shows a graph of vacuum exhaustion rate (in liters/min) vs. vacuum pressure (in bar), and in particular, shows at 10 the rate/pressure relationship for an ejector source, shows at 12 the rate/pressure relationship for a vacuum pump (both high vacuum), and shows at 14 the rate/pressure relationship for a vacuum blower (high flow). Switching of sources may be accomplished by a control signal based on the object being picked up, or sense data acquired during operations. Alternatively, switching of sources may be accomplished by check valves. The expense and complexity of a second vacuum source however, are not always justifiable.

[0032] The single source hybrid gripper of certain embodiments of the invention, employs just one vacuum source, with additional hardware and operating procedures so that either high flow or high vacuum gripping may be obtained, depending on the item, the surroundings, and the nature of the seal.

[0033] In accordance with an embodiment, the system may employ a side-channel blower 20 as shown diagrammatically in FIG. 2. The side-channel blower 20 includes a motor 22 that drives an output shaft 28 on which is mounted a blower assembly 24. The blower assembly 24 includes a set of angularly disposed fan blades 26 (which may or may not be curved or angled or specially shaped), and are provided within an annular housing 30. The blower assembly 24 rotates in a direction about the shaft 28 as indicated at A, which causes the fan blades 26 to rotate in a direction as indicated at B. As the fan blades rotate, they entrain fluid (e.g., air), which causes air to enter the vacuum tube 32 in a direction as shown at C, and to exit the blower 20 at an outlet tube 34 as indicated at D.

[0034] Generally, the annular space around the fan blades 26 is spacious for most of the cycle, but in the area between the inlet and outlet (as indicated at 36), there is very little space between the fan blades and the inside of the annular surface. This causes the blower assembly to draw air in as shown at C, and to produce a volume of air as shown at D. The blower assembly 24 provides high flow, with the advantage that the static pressure is higher than other high flow sources, even attaining vacuum levels above 50%. With no further modification, the gripper would exhibit high flow gripping for porous objects, objects smaller than the vacuum cup, and any other object failing to provide a good seal, and would also exhibit high vacuum gripping when a good seal happens to occur, except that a significant problem exists that is solved by certain embodiments of the present invention as discussed in more detail below.

[0035] FIGS. 3A and 3B show an embodiment of the invention that includes a single source 20 having an inlet 32 and an outlet 34 that selectively communicate with a gripper 46 via a vacuum line 44 through a valve 42 to grasp an object 47. The valve connects the gripper 46 either to the blower 20 (via channel 41 to grip the object 47 as shown in FIG. 3A) or to atmosphere (via channel 43 to release the object 47 as shown in FIG. 3B). The valve moves linearly to switch the connections. The problem is that side-channel blowers are typically not designed to be dead-headed. That is, they are not designed for sustained operation with the air flow completely blocked as shown at 33 in FIG. 3B, which causes the blower 20 to be dead-headed as shown at 35. The air flow serves to cool the blower. When air flow is blocked, the blower is susceptible to damage and failure from overheating. If the time that the air flow is blocked is minimized, and/or if other steps are taken to ensure sufficient cooling of the blower, e.g., by providing a different air flow path to the blower, or by increasing a time between periods when the air flow is blocked, or by active cooling of the blower, such a system may function properly in certain embodiments of the present invention.

[0036] More fundamentally however, the system may encounter a more prolonged dead-headed state in simply lifting an object. FIGS. 4A and 4B show a system 40 in accordance with an embodiment of the present invention that includes the single source 20 having the inlet 32 and the outlet 34 selectively communicating with the gripper 46 via the vacuum line 44 through the valve 42 to grasp the object 48. The valve 42 connects the gripper 46 either to the blower 20 (via channel 41 to grip the object 48 as shown in FIG. 4A) or to atmosphere (via channel 43 to release the object 48 as shown in FIG. 4B). The valve moves linearly to switch the connections.

[0037] Although the valve may be used to mitigate dead-heading of the blower upon release (FIG. 4B), a problem in this embodiment is that when the gripper 46 engages the object (as shown in FIG. 4A), a seal is formed between the gripper 46 and the object surface 48 (as shown at 37), causing the blower to become dead-headed (as shown at 35). While dropping an object may require only a relatively small amount of time, moving and then dropping an object may require too much time for a blower system to withstand such a prolonged period of dead-heading, particularly if successive objects form a good seal with the end effector. In accordance with an embodiment, the invention provides that between times of dead-heading (t.sub.d-h), the system will provide airflow for a sufficient amount of time (t.sub.c-min) to cool the blower as shown in FIG. 5. If a seal is not formed between the end effector and the object, then sufficient air flow may be provided during grasping to prevent the blower from overheating.

[0038] FIGS. 6A and 6B show a system 50 of another embodiment that includes a single source 20 having an inlet 32 and an outlet 34 that selectively communicate with a gripper 56 via a vacuum line 54 and a valve 52. The valve 52 connects the gripper 56 either to the blower 20 (via channel 51 to grip the object 58 as shown in FIG. 6A) or to atmosphere (via channel 55 to release the object 58 as shown in FIG. 6B). Again, the valve moves linearly to switch the connections. When in the release position, as shown in FIG. 6B, a further channel 53 is provided that connects the blower to atmosphere as well, preventing the blower 20 from becoming dead-headed.

[0039] FIGS. 7A-7D show a system 60 of another embodiment that includes a single source 20 having an inlet 32 and an outlet 34 that selectively communicate with a gripper 66 via a vacuum line 64 and a valve 62. The valve 62 connects the gripper 66 either to the blower 20 (via channel 61 to grip the object 68 as shown in FIGS. 7A and 7B) or the valve connects each of the blower 20 and the gripper 66 to atmosphere (via channels 61, 63 as shown in FIGS. 7C and 7D) to release the object 68. As shown in FIGS. 7B and 7C, the valve rotates to provide the desired connection state. When in the release position, as shown in FIGS. 7C and 7D, a further channel 63 is provided that connects the blower to atmosphere as well, preventing the blower 20 from becoming dead-headed.

[0040] While such embodiments may function well with objects that do not seal the gripper and applications in which any dead-heading is very brief, certain applications may require that objects be grasped and maintained for longer periods of time that result in the blower dead-heading. FIGS. 8A and 8B show a system 70 in which a linear actuated valve 72 is provided together with a relief valve 75. In particular, the system 70 includes a single source 20 having an inlet 32 and an outlet 34 that selectively communicate with a gripper 76 via a vacuum line 74 and the valve 72. The valve 72 connects the gripper 76 either to the blower 20 (via channel 71 to grip the object 78 as shown in FIG. 8A) or to atmosphere (via channel 73 to release the object 78 as shown in FIG. 8B). The relief valve 75 provides that some air is always being provided to the blower 20, preventing dead-heading if a seal is formed at the gripper.

[0041] FIGS. 9A and 9B show a system 80 in which a rotatably actuated valve 82 is provided together with a relief valve 85. In particular, the system 80 includes a single source 20 having an inlet 32 and an outlet 34 that selectively communicate with a gripper 86 via a vacuum line 84 and the valve 82. The valve 82 connects the gripper 86 either to the blower 20 (via channel 81 to grip the object 88 as shown in FIG. 9A) or to atmosphere (via channel 81 when rotated to release the object 78, while also connecting the blower 20 to atmosphere via channel 83 as shown in FIG. 9B). The relief valve 85 provides that some air is always being provided to the blower 20, preventing dead-heading if a seal is formed at the gripper.

[0042] The relief valves 75, 85 may be employed to allow regulated flow of air. The flow might be a constant small flow, enough to eliminate the dead-heading condition and allow blower cooling, but not enough to defeat the gripper function. In accordance with further embodiments, the relief valve may provide a variable flow modulated by the state of operation, or the (estimated or sensed) temperature of the blower, or other operating conditions. The relief valve might inject a gas or liquid with preferred thermal properties, such as an oil or water-based coolant.

[0043] The invention therefore provides many options to mitigate dead-heading, such as for example, providing a different valve logic, so that when the item is released by connecting the gripper to atmosphere, it also connects the blower to atmosphere, allowing flow of air to cool the blower; modulating the duty cycle of the device. Dead-heading occurs when either (a) a good seal is obtained, or (b) a valve is closed. It is possible to limit the blower heating by limiting the time in state (a) or (b).

[0044] FIG. 10 shows a bin 90 of heterogeneous objects 92, 94, 96, 98, 100. Each object in the bin 90 may have a different surface texture, and may form a different level of seal with a vacuum end effector. In accordance with certain embodiments of the present invention, the system uses this information to regulate dead-heading of the blower. In particular, and with reference to FIG. 11, the system may elect to grasp an object 102 that is known to provide a tight seal with the vacuum end effector, causing the blower to reach a high temperature (T.sub.b-max). As this will cause dead-heading of the blower, the system may then elect to grasp one or two or more further objects that are known to not form a tight seal with the vacuum end effector, which will therefore reduce the temperature of the blower (T.sub.b-). For example, the system may then elect to move objects 104 and 106 prior to again choosing to move an object 108 that may be known to provide a tight seal with a vacuum end effector.

[0045] In accordance with further embodiments therefore, the relief valve may inject a gas or liquid with preferred thermal properties, such as an oil or water-based coolant. FIG. 12, for example, shows a system 110 that includes a coolant source 112 that is coupled to a relief valve 114 for providing an oil or water-based coolant to the blower 20. Cooling may also be provided by a fan or additional blower 116 that is independent of, and directed at, the vacuum source blower 20. Cooling may further be provided by liquid cooling ports in the blower housing, or by a liquid cooled jacket. Additionally, sensors (e.g., 118, 120, 122), may be placed on any of the gripper, the blower or other components to sense pressure, flow and/or temperature, and the additional cooling systems (e.g., 112, 114) may be operable by one or more computer processors 124 responsive to any sensor data. Visual sensing may also be employed to guide placement of the gripper on or near an object, or set of objects, or away from clutter to be avoided, and pressure and flow sensing may be used to determine the gripper state and proximity of items to the gripper.

[0046] The system may be controlled to most effectively pick and place objects, with additional measures related to blower cooling. Using knowledge of blower thermal properties, along with knowledge of recent history of pressure, flow, and blower control signals, and valve control signals, the system could maintain an estimate of blower temperature, and use that estimate to employ mitigation strategies described above.

[0047] In accordance with various embodiments, therefore, the invention provides a gripper that shifts between high vacuum (static pressure) and high flow (aerodynamic drag) as conditions require, using a single source of vacuum. The vacuum source may be a side-channel blower, and the vacuum source may be connected to the gripper by a gripper control valve that is open to grip objects and closed to release objects. The gripper control valve may be ganged or synchronized with a blower vent valve that connects the blower to atmosphere when it is not connected to the gripper. The gripper control valve may be left open at times other than when gripping, allowing a flow of air to cool the blower. The time spent gripping objects, or in other phases that prevent ventilation of the motor, may be modulated to prevent overheating of the blower.

[0048] A relief valve may be positioned to allow entry of a cooling fluid, which may be atmospheric air, or a different gas, or a liquid, to enter the system and cool the blower. The relief valve may be continuously open to allow a small flow, sufficient to cool the blower, but insufficient to defeat the gripping function. The relief valve may operate according to sensed pressure, flow, temperature or time signals.

[0049] The system may also have one or more sensors, which may be flow sensors, pressure sensors, force sensors, or temperature sensors. The gripper may be the end effector of a programmable motion device such as a robot arm, and the motion of the arm may be modulated to maintain flow of air sufficient to cool the blower. The motion of the arm may include picking a sufficient number of objects that will not seal with the gripper, thereby maintaining a flow of air sufficient to cool the blower. The control processor 124 may use sensor information and an engineering model of the blower thermal behavior to choose gripper behavior and command valve opening and closing.

[0050] With reference to FIG. 13, the system may use an end effector 130 with a vacuum bellows 133, and a sensor 118 that includes any of a flow sensor or a pressure sensor for sensing any of pressure or flow within the vacuum line 134 of the end effector 130 (EE.sub.p, EE.sub.F). The system, for example using one or more computer processing systems 124, may compute from observations of flow and pressure during use, expected flow and pressure values, as well as thresholds associated with blower dead-heading.

[0051] FIG. 14 shows various alternatives for providing a limiting of the effects of dead-heading. In particular, inputs to the system may include any of an end effector pressure (EEp), an end effector flow (EE.sub.f), a blower temperature (T.sub.b), a pressure at the relief value (P or a timer that monitors how long the blower has been in dead-head state (t.sub.d-h). Responsive to any of these inputs, the system, again using one or more computer processing systems 124, may actuate a linear or rotary valve, may permit a relief valve to provide any of air or a cooling fluid to the blower, may limit a period of time of grasping an object with a good seal, may adjust (lengthen) the timing between grasps, or may engage a fan to directly cool the blower.

[0052] Each of the aspects of the various embodiments may be employed with each of the embodiments discussed above. Certain of the embodiments discussed above may provide cooling of the vacuum source more quickly than with other embodiments discussed above. Those skilled in the art will appreciate that numerous modifications and variations may be made to the above disclosed embodiments without departing from the spirit and scope of the present invention.