Granted Patent B2

US 12,576,544 · App. 17/754,769 · Granted Mar 17, 2026

Inventors: Sepehr Sheikholeslami (Vancouver, CA); Carlo Menon (Coquitlam, CA); Jingyang Peng (Saskatoon, CA)

Assignee: Nexera Robotics Corp.

B25J15/0616B25J15/0023

Abstract

Claims (241)

1 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

at least one membrane wall actuation mechanism adapted to displace the membrane wall relative to the framing structure;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

2 . The apparatus of claim 1 , further comprising

wherein the shape of the deformable membrane is affected by at least the pressure of the substance inside the membrane compartment; and

wherein said substance is selected from a list consisting of a gas, air, fluid, granular material, compressible solids, and phase-changing materials.

3 . The apparatus of claim 1 , wherein the membrane compartment is at least pressurized when grasping the object.

4 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein an outer edge region of the deformable membrane is fixed to the membrane wall by a clip

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

5 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane wall further comprises a hole to accommodate the suction wall and wherein the suction compartment is configured to move within the hole;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

6 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein grasping with the deformable membrane is at least dependent on the position of the suction cup or engagement of the suction cup with the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

7 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane;

wherein a resting state of the apparatus is defined as a state in which the membrane wall is at a position closest to the framing structure and the suction wall is at a position furthest away from the framing structure;

wherein the edge of the membrane wall that is the furthest away from the framing structure defines a plane and delimits a region on such plane;

wherein when the apparatus is in the resting state, the deformable membrane does not intersect with such region of the plane; and

wherein when the apparatus is grasping an object, the deformable membrane intersects with such region of the plane.

8 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

an actuation mechanism configured to move the suction compartment relative to the framing structure;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

9 . The apparatus of claim 8 , whereby the position and/or the control effort of the actuation mechanism and the pressure mechanism are based on features of the object.

10 . The apparatus of claim 8 , whereby the position and/or the control effort of the actuation mechanism and the pressure mechanism is configured by one or more machine learning algorithm, wherein said one or more machine learning algorithm processes data collected by one or more sensors to detect features of the object or recognize the object.

11 . The apparatus of claim 10 , wherein a negative pressure source or the control effort are controlled to grasp the object.

12 . The apparatus of claim 8 , whereby the gripping apparatus is configured to:

grasp the object with the suction cup;

grasp the object with an outer suction cup;

grasp the object with the membrane; and

grasp the object with the membrane and one of the suction cup and the outer suction cup.

13 . The apparatus of claim 8 , whereby the position and/or the control effort of the actuation mechanism and the pressure mechanism is configured to:

grasp the object with the suction cup; and

grasp the object with the membrane in addition to the suction cup if the forces exerted by the suction cup are not sufficient.

14 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane; and

wherein the pressure inside the membrane compartment is affected by the at least one pressure mechanism and the pressure of the suction compartment is affected by at least another pressure mechanism, wherein the two pressure mechanisms are independently controlled.

15 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane; and

wherein the apparatus facilitates the movement of the membrane wall and the suction wall relative to the framing structure, and respective to each other, wherein respective to each other comprises one item moves and the other item stays stationary, or both items move.

16 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

at least one outer suction cup in mechanical communication with the outside of and surrounding the membrane wall;

wherein the outer suction cup forms one large suction cup surrounding the membrane wall;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or at least the outer suction cup, or any combination of the suction cup, deformable membrane, and outer suction cup.

17 . The apparatus of claim 16 , wherein the outer suction cup is at least in fluid communication with the pressure mechanism configured to regulate the pressure of the suction compartment.

18 . The apparatus of claim 16 ,

wherein upon the at least one outer suction cup contacting the object to be grasped, the at least one outer suction cup delimits at least one sealing region between the outer suction cup and the object;

wherein the shape and area of the at least one sealing region is dependent on the shape of the at least one deformable membrane; and

wherein when said gripping apparatus is grasping an object, at least the suction cup in mechanical communication with the suction wall or at least the outer suction cup or at least the deformable membrane, or any combination of the suction cup, the outer suction cup, and the deformable membrane simultaneously creates the sealing region.

19 . The apparatus of claim 16 , wherein the operation of the outer suction cup is dependent on the position of the suction cup relative to the outer suction cup, the pressure of the suction compartment, the pressure of the membrane compartment, and position and shape of the deformable membrane.

20 . The apparatus in claim 16 , further configured to operate the apparatus in a membrane mode, a suction cup mode, and a rim cup mode;

wherein the membrane mode is configured for grasping with the deformable membrane and the suction cup;

wherein the suction cup mode is configured for grasping with only the suction cup; and

wherein the rim cup mode is configured for grasping with only the outer suction cup.

21 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane;

further configured to operate the apparatus in a membrane mode and a suction cup mode;

wherein the membrane mode is configured for grasping with the deformable membrane and the suction cup; and

wherein the suction cup mode is configured for grasping with only the suction cup.

22 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

wherein the membrane compartment is formed by the membrane wall, suction wall, and deformable membrane whereby the deformable membrane is flexibly connected to the membrane wall and suction wall;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

23 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane; and

wherein when at least the suction cup or at least the deformable membrane is in contact with the object, the at least one pressure mechanism forms a vacuum or a secure suction force to lift the object.

24 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane; and

further comprising a venting valve, wherein the venting valve and the at least one pressure mechanism are configured to regulate the membrane compartment to different pressure set points.

25 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

a variable suction cup, wherein the changes in shape of the deformable membrane will increase or decrease the size of the variable suction cup;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment; and

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane.

26 . A gripping apparatus configured to pick up, manipulate, and release an object, comprising:

a framing structure;

a suction compartment;

a suction wall at least partially surrounding the suction compartment;

a membrane wall;

at least one deformable membrane configured to conform to and to grasp the object;

a suction cup in mechanical communication with said suction wall or said deformable membrane configured to grasp the object;

wherein the deformable membrane has at least one hole which defines an inner edge of the deformable membrane;

wherein the inner edge of the deformable membrane is in mechanical communication with said suction wall;

wherein the membrane wall, the suction wall, and the deformable membrane form at least a partially sealed membrane compartment;

wherein the membrane compartment is filled with a substance;

at least one pressure mechanism configured to regulate the pressure of the substance in the membrane compartment or at least regulate the pressure of the suction compartment;

wherein the gripping apparatus is adapted to grasp objects of different shapes and sizes using at least the suction cup, or at least the deformable membrane, or the combination of the suction cup and the deformable membrane; and

wherein the shape of the deformable membrane is affected by at least the pressure of the substance inside the membrane compartment.

Assignments (2)

Continuity (3)

References Cited (62)