Systems and methods for providing vacuum valve assemblies for end effectors
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.
1. A method of manipulating an object with an end-effector comprising:
providing a pad of the end-effector, the pad including a plurality of pad apertures therein that are not mutually connected within the pad, each pad aperture being in communication with a supply channel of the end-effector, each supply channel including a top aperture, a bottom aperture and a plug therebetween, each bottom aperture being adjacent at least one pad aperture of the plurality of pad apertures;
applying the pad of the end-effector to the object such that a first subset of the plurality of pad apertures are in contact with the object while a second subset of the plurality of pad apertures are not in contact with the object;
applying a vacuum pressure to the top apertures of each of the supply channels;
applying the vacuum pressure through the first subset of the plurality of pad apertures to grasp the object by vacuum force; and
blocking each of the supply channels in communication with the second subset of the plurality of pad apertures with the associated plug by virtue of the vacuum force at the top aperture of the respective supply channel in communication with each of the second subset of the plurality of pad apertures drawing the plug within the respective supply channel to the top aperture of the respective supply channel.
2. The method as claimed in claim 1 , wherein the plug of each supply channel is a spherical ball of size and weight that it is pulled to the respective top aperture when the top aperture is at vacuum pressure and the bottom aperture is at atmospheric pressure.
3. The method as claimed in claim 2 , wherein the plug of each respective supply channel does not fit within the bottom aperture when the top aperture is not at vacuum pressure.
4. The method as claimed in claim 2 , wherein each respective supply channel includes a screen adjacent the bottom aperture.
5. The method as claimed in claim 1 , wherein each supply channel further includes a pressure sensor for providing a signal representative of a pressure in the respective supply channel.
6. The method as claimed in claim 5 , wherein each pressure sensor includes a MEMS barometer.
7. The method as claimed in claim 1 , wherein the pad is formed of a complaint material.
8. The method as claimed in claim 1 , wherein applying a vacuum pressure to the top apertures includes applying vacuum via a vacuum head that is coupled to an articulated arm via a mounting plate.
9. The method as claimed in claim 8 , wherein the method further includes providing a load cell signal from a load cell responsive to force distributions by which the mounting plate is coupled to the vacuum head.
10. The method as claimed in claim 8 , wherein the method further includes providing a plurality of load cell signals from a plurality of load cells responsive to force distributions by which the mounting plate is coupled to the vacuum head.
11. The method as claimed in claim 1 , wherein the method further includes identifying, via electronic processing, which of the supply channels are not being used in grasping the object by vacuum force.
12. The method as claimed in claim 1 , wherein the method further includes identifying, via electronic processing, which of the supply channels are being used in grasping the object by vacuum force.
13. The method as claimed in claim 12 , wherein the method further includes identifying whether the number of supply channels that are grasping the object by vacuum force is changing.
14. The method as claimed in claim 13 , wherein the method further includes identifying whether an object is peeling off of the pad.
15. The method as claimed in claim 13 , wherein the method further includes identifying whether an object has been dropped from the pad.
16. The method as claimed in claim 12 , wherein the method further includes determining a success percentage in connection with the grasp on the object based on a priori knowledge data regarding the object and the supply channels that are being used in grasping the object by vacuum force.
17. The method as claimed in claim 16 , wherein the method further includes shutting off the vacuum pressure responsive to the success percentage.
18. The method as claimed in claim 16 , wherein the method further includes raising the end-effector responsive to the success percentage.
19. The method as claimed in claim 18 , wherein the method further includes receiving load cell data, and controlling movement in real time of the end-effector responsive to the load cell data.
20. A method of manipulating an object with an end-effector comprising:
applying a pad of the end-effector to the object, the pad including a plurality of pad apertures, and the pad being applied to the object such that a first subset of the plurality of pad apertures are in contact with the object while a second subset of the plurality of pad apertures are not in contact with the object;
applying a vacuum pressure to each of a plurality of supply channels that are in communication with the pad apertures, each supply channel including a top aperture, a bottom aperture and a plug therebetween, the vacuum pressure being applied to the top aperture, and each bottom aperture being adjacent at least one pad aperture of the plurality of pad apertures;
applying the vacuum pressure through the first subset of the plurality of pad apertures to grasp the object by vacuum force; and
blocking each of the supply channels in communication with the second subset of the plurality of pad apertures with the associated plug by virtue of the vacuum force at the top aperture of the respective supply channel in communication with each of the second subset of the plurality of pad apertures drawing the plug within the respective supply channel to the top aperture of the respective supply channel.
21. The method as claimed in claim 20 , wherein the plug of each supply channel is a spherical ball of size and weight that it is pulled to the respective top aperture when the top aperture is at vacuum pressure and the bottom aperture is at atmospheric pressure.
22. The method as claimed in claim 21 , wherein the plug of each respective supply channel does not fit within the bottom aperture when the top aperture is not at vacuum pressure.
23. The method as claimed in claim 21 , wherein each respective supply channel includes a screen adjacent the bottom aperture.
24. The method as claimed in claim 20 , wherein each supply channel further includes a pressure sensor for providing a signal representative of a pressure in the respective supply channel.
25. The method as claimed in claim 24 , wherein each pressure sensor includes a MEMS barometer.
26. The method as claimed in claim 20 , wherein the method further includes identifying, via electronic processing, which of the supply channels are being used in grasping the object by vacuum force.
27. The method as claimed in claim 26 , wherein the method further includes identifying whether an object is peeling off of the pad.
28. The method as claimed in claim 26 , wherein the method further includes identifying whether an object has been dropped from the pad.
29. The method as claimed in claim 26 , wherein the method further includes determining a success percentage in connection with the grasp on the object based on a priori knowledge data regarding the object and the supply channels that are being used in grasping the object by vacuum force.
30. The method as claimed in claim 29 , wherein the method further includes shutting off the vacuum pressure responsive to the success percentage.
31. The method as claimed in claim 29 , wherein the method further includes raising the end-effector responsive to the success percentage.
32. The method as claimed in claim 31 , wherein the method further includes receiving load cell data, and controlling movement in real time of the end-effector responsive to the load cell data.
33. A system for manipulating an object with an end-effector comprising:
a pad of the end-effector for application to the object, the pad including a plurality of pad apertures, and the pad including a first subset of the plurality of pad apertures for contact with the object, and a second subset of the plurality of pad apertures for not contacting the object;
a vacuum source for applying a vacuum pressure to each of a plurality of supply channels that are in communication with the pad apertures, each supply channel including a top aperture, a bottom aperture and a plug therebetween, the vacuum pressure being applied to the top aperture, and each bottom aperture being adjacent at least one pad aperture of the plurality of pad apertures, the vacuum pressure applied through the first subset of the plurality of pad apertures to grasp the object by vacuum force; and
a plug between the top aperture and the bottom aperture of each of the supply channels, wherein one or more plugs of the supply channels in communication with the second subset of the plurality of pad apertures blocks the respective supply channel by virtue of the vacuum force at the top aperture of the respective supply channel in communication with each of the second subset of the plurality of pad apertures.
34. The system as claimed in claim 33 , wherein the plug of each supply channel is a spherical ball of size and weight that it is pulled to the respective top aperture when the top aperture is at vacuum pressure and the bottom aperture is at atmospheric pressure.
35. The system as claimed in claim 33 , wherein each supply channel further includes a pressure sensor for providing a signal representative of a pressure in the respective supply channel.
36. The system as claimed in claim 35 , wherein each pressure sensor includes a MEMS barometer.
37. The system as claimed in claim 36 , wherein the system further includes a load cell for providing a load cell signal responsive to force distributions within the end-effector.
38. The system as claimed in claim 36 , wherein the system further includes a plurality of load cell for providing a plurality of load cell signals responsive to force distributions by which the mounting plate is coupled to the vacuum head.