Systems and methods for maintaining vacuum hose life in hose routing systems in programmable motion systems
A programmable motion robotic system is disclosed that includes a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm, and a hose coupling an end effector of the programmable motion robotic system to a vacuum source. The hose is attached to at least one arm section of the articulated arm by a pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints.
1. A programmable motion robotic system comprising:
a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and
a hose coupling an end effector of the programmable motion robotic system to a vacuum source;
a pass-through coupling, said hose being attached to at least one arm section of the articulated arm by the pass-through coupling that permits the hose to pass freely through the coupling as the plurality of arm sections are moved about the plurality of joints; and
a control system processor that identifies one or more restricted areas of movement of the articulated arm based on a movement model of the hose to prevent unwanted forces on the hose, wherein the unwanted forces includes any of a stress, a strain, a bending, a torsion, and a compression on the hose.
2. The programmable motion robotic system as claimed in claim 1 , wherein the pass-through coupling is rotatable with respect to the at least one arm section to which the pass-through coupling is attached.
3. The programmable motion robotic system as claimed in claim 1 , wherein the pass-through coupling includes rollers.
4. The programmable motion robotic system as claimed in claim 1 , wherein the vacuum source provides, via the hose, a vacuum at the end effector having a flow rate of at least 100 cubic feet per minute.
5. The programmable motion robotic system as claimed in claim 1 , wherein the vacuum source provides, via the hose, a vacuum at the end effector having a vacuum pressure of no more than 65,000 Pascals below atmospheric.
6. The programmable motion robotic system as claimed in claim 1 , wherein the hose has an inner diameter of at least 1 inch.
7. The programmable motion robotic system as claimed in claim 1 , wherein the hose has an inner diameter of 2 inches.
8. The programmable motion robotic system as claimed in claim 1 , wherein the hose has a helical ribbing.
9. The programmable motion robotic system as claimed in any of the preceding claims, wherein the programmable motion robotic system further includes a ring collar to which the hose is attached, said ring collar permitting free rotational movement of the hose with respect to the collar.
10. The programmable motion robotic system as claimed in claim 1 , wherein the end effector includes a flexible bellows.
11. A programmable motion robotic system comprising:
a plurality of arm sections that are joined one to another at a plurality of joints to form an articulated arm; and
a hose coupling an end effector of the programmable motion robotic system to a vacuum source;
a pass-through coupling, said hose being attached, in a joint portion of the hose, to at least two arm sections with a joint between the at least two arm sections, such that the hose is coupled to one arm section of the at least two arm sections by the pass-through coupling that permits the hose to pass freely through the coupling when the one arm section is rotated about the joint with respect to another arm section of the at least two arm sections; and
a control system processor that determines a plurality of possible routes for moving the articulated arm from a first position to a second position, models a stress on the hose associated with each route, and moves the articulated arm from the first position to the second position along a selected route from among the plurality of possible routes, wherein the modeled stress on the hose for the selected route is less than a predetermined threshold.
12. The programmable motion robotic system as claimed in claim 11 , wherein the pass-through coupling is rotatable with respect to an arm section to which the pass-through coupling is attached.
13. The programmable motion robotic system as claimed in claim 11 , wherein the pass-thorough coupling includes rollers.
14. The programmable motion robotic system as claimed in claim 11 , wherein the vacuum source provides, via the hose, a vacuum at the end effector having a flow rate of at least 100 cubic feet per minute.
15. The programmable motion robotic system as claimed in claim 11 , wherein the vacuum source provides, via the hose, a vacuum at the end effector having a vacuum pressure of no more than 65,000 Pascals below atmospheric.
16. The programmable motion robotic system as claimed in claim 11 , wherein the hose has an inner diameter of at least 1 inch.
17. The programmable motion robotic system as claimed in claim 11 , wherein the hose has an inner diameter of 2 inches.
18. The programmable motion robotic system as claimed in claim 11 , wherein the hose has a helical ribbing.
19. The programmable motion robotic system as claimed in claim 11 , wherein the hose includes at least three joint portions of the hose, each of which joint portion of the hose is attached to at least two adjacent arm sections mutually attached to a respective joint such that the hose is coupled to each arm section by a pass-through coupling that permits the hose to pass freely through the coupling.
20. The programmable motion robotic system as claimed in claim 11 , wherein the hose includes no portions of the hose that is attached to at least two adjacent arm sections mutually attached to a respective joint such that the hose is coupled to an arm section by other than a pass-through coupling that permits the hose to pass freely through the coupling.
21. The programmable motion robotic system as claimed in claim 11 , wherein the end effector includes a flexible bellows.
22. A method of minimizing forces on a hose in a programmable motion system that includes an end effector on an articulated arm that is coupled to a vacuum source by the hose, said method comprising:
providing a pass-through coupling on an arm section of the articulated arm;
moving the arm section of the articulated arm;
permitting the hose to move through the pass-through coupling to reduce any of binding or bending of the hose; and
restricting a movement of the articulated arm from a first position to a second position when the movement is determined to potentially cause unwanted forces on the hose, which includes:
modeling an amount of any bending, torsion, and binding of the hose that is expected to occur along a proposed route for moving the end effector of the articulated arm from a first position to a second position;
eliminating the proposed route for moving the end effector of the articulated arm in response to determining that the modeled amount of any bending, torsion, and binding of the hose along the proposed route exceeds a threshold; and
moving the end effector from the first position to the second position along the proposed route in response to determining that the modeled amount of any bending, torsion, and binding of the hose along the proposed route does not exceed the threshold.
23. The method as claimed in claim 22 , wherein the method further includes permitting the pass-through coupling to rotate with respect to the arm section to which the pass-through coupling is attached.
24. The method as claimed in claim 22 , wherein the pass-through coupling includes rollers.
25. The method as claimed in claim 22 , wherein the method further includes providing, via the hose, a vacuum at the end effector having a flow rate of at least 100 cubic feet per minute.
26. The method as claimed in claim 22 , wherein the method further includes providing, via the hose, a vacuum at the end effector having a vacuum pressure of no more than 65,000 Pascals below atmospheric.
27. The method as claimed in claim 22 , wherein the hose has an inner diameter of at least 1 inch.
28. The method as claimed in claim 22 , wherein the hose has an inner diameter of 2 inches.
29. The method as claimed in claim 22 , wherein the hose has a helical ribbing.
30. The method as claimed in claim 22 , wherein the method further includes permitting the hose to move with respect to a ring collar to which the hose is attached.
31. The method as claimed in claim 22 , wherein the proposed route is selected from among a plurality of optional routes.
32. The method as claimed in claim 22 , wherein the end effector includes a flexible bellows.