Double acting fluidic cylinder for material handling.

(54) Title: DOUBLE ACTING FLUID CYLINDER FOR MATERIAL HANDLING.

(54) Title: DOUBLE ACTING FLUIDIC CYLINDER FOR MATERIAL HANDLING.

(57) Summary

A double-acting cylinder for a robotic arm comprises a hollow cylinder (374) having a front end (376) and a rear end (378) that enclose a chamber therein. A rod (366) and a piston (370) are reciprocably movable within the chamber and with a tip of the rod protruding through the front end of the cylinder. A passage (396,390) extends through the double-acting cylinder from the rear end to the protruding tip of the stem. Where the passageway provides open communication between the tip and the rear end, and changes the length along the direction of the reciprocating movement as the stem and piston move.

(57) Abstract

A dual action cylinder for a robotic arm comprises a hollow cylinder (374) having a front end (376) and a rear end (378) enclosing a chamber within. A rod (366) and pistón (370) are reciprocatingly movable within the chamber and with a tip of the rod protruding through the front end of the cylinder. A passageway (396,390) extends through the dual acting cylinder from the rear end to the protruding tip of the rod. Wherein the passageway provides open communication between the tip and the rear end, and changes length along the direction of reciprocation as the rod and piston move. 0100352.0617214 4819-7249-1555v2.

DOUBLE ACTING FLUID CYLINDER FOR MATERIAL HANDLING

RELATED REQUESTS

This application claims the benefit of priority over US Provisional Application No. 61 / 985,417, titled DOUBLE ACTING MATERIAL HANDLING FLUID CYLINDER filed on April 28, 2014, the total content of which is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present discussion refers generally to a fluid-driven double-acting cylinder, and more particularly, it is directed to a double-acting cylinder with a moving shaft .---------- ------BACKGROUND

Double-acting actuators have been used for years to provide two opposite directions of motorized actuation from a single actuator. Double acting actuators can be actuated by a fluid that is compressible or incompressible, such as air or a hydraulic fluid respectively. There are multiple applications for double acting cylinders in the materials handling industry. For example, double-acting cylinders could be used to actuate diverters, to divert items moving from one conveying surface to another, lock items onto a conveying surface, or could be used to move items from one location to another. another during the loading, unloading and storage of articles.

The materials handling industry can involve purchasing and moving items ranging from small and light to large and heavy. Consequently, material handling equipment must be robust, durable, and fragile areas must be protected from accidental collisions and shocks. In some cases, material handling equipment must be small enough to fit into tight spaces. Some double-acting cylinders may have a hollow rod that extends out of the front and rear ends of the cylinder and reciprocably moves in a longitudinal direction relative to the cylinder. This arrangement avoids communication of the hollow shaft bore with the interior of the cylinder but adds additional length to the double acting cylinder. Flexible tubes can be attached to the rear end of the hollow stem to communicate air or vacuum to the front end of the hollow stem as it moves reciprocatingly, although this adds even more length to the double acting cylinder and exposes both ends of the hollow stem. and hoses to a potential hazard.

What is needed is a double acting cylinder that is short in length and protected against accidental collisions and shocks.

COMPENDIUM

A simplified compendium of innovation is presented below to provide a basic understanding of some aspects of innovation. This compendium is not an extensive review of innovation. It is not intended to identify key / fundamental elements of the innovation or limit the scope of the innovation. Its sole purpose is to present some concepts of the innovation in a simplified way, as a preamble to the more detailed description that follows.

In one aspect of the innovation in question, a double-acting fluid cylinder is disclosed comprising a hollow cylinder having a front end and a rear end enclosing a chamber therein. A rod and a piston may reciprocate within the chamber with a tip of the rod protruding through the front end of the cylinder. A passageway runs through the double-acting cylinder from the rear end to the tip protruding from the stem. The passage provides open communication between the tip and the trailing end, and changes the length along the direction of the reciprocating motion as the stem and piston move.

In a second aspect of the invention, a double-acting fluid cylinder comprises a hollow cylinder having a front end and a rear end that enclose a chamber therein. A rod and a piston may reciprocate within the chamber of the hollow cylinder with a tip of the rod protruding through the front end of the cylinder. The rod and cylinder have a rigid passage that extends through the rod and piston. Between the rear end and the rigid passageway in the piston a flexible and open passageway is connected. The flexible part changes in length when the rod and piston move in a reciprocating direction.

In a third aspect of the innovation in question, a method for controlling a robotic arm with a controller is disclosed. The robotic arm is configured to passively fit a plurality of irregular items. The robotic arm comprises a manipulator that can be moved with the robotic arm and with a plurality of double-acting cylinders attached to the manipulator. Each of the 20 double-acting cylinders has a front chamber and a rear chamber and each has a vacuum pad 302 that can be moved while the double-acting cylinder extends and retracts. Each of the vacuum cups is connected to a passageway that extends through the double-acting cylinder, where each passage varies in length as the double-acting cylinder extends and retracts. A vacuum source is switchable to the vacuum cups through the passage. A source of compressed air is connected, in a switchable manner, to each of the front and rear chambers in order to retract and extend the vacuum cups respectively. The method comprises the steps of: First, extending the double-acting cylinders from the manipulator by pressurizing the rear chamber. Next, prepare the double-acting cylinders to passively move proximally by opening the front and rear cylinders to the atmosphere. Subsequently, each vacuum source of each double acting cylinder actuate to provide suction to a respective vacuum pad. And after this, move the manipulator distally with the robot arm so that it fits the plurality of irregular items. The movement causes each double-acting cylinder to passively retract proximally from contact of the vacuum pad with a respective irregular article and passively adjust the suction cups and double-acting cylinders to enter into contact with the plurality of irregular articles.

Although an embodiment described herein comprises a robotic vehicle, it will be understood that the present innovation is not limited in its use or application thereto.

BRIEF DESCRIPTION OF THE FIGURES

The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments, by way of example, of the content of the invention and, together with the general description of the content of the invention given above and with the detailed description of the embodiments given below serve to explain the principles of exemplary embodiments of the present content of the invention.

Figure 1 illustrates an isometric view of a first autonomous robotic vehicle for loading and unloading articles.

Figure 2 illustrates an isometric view of a second autonomous robotic vehicle for unloading items.

Figure 3 illustrates a bottom side view, showing a plurality of double-acting cylinders attached to a manipulator at one end of a robotic arm of the second autonomous robotic vehicle shown in Figure 2, where each one of the plurality of cylinders Double-acting can be extended and retracted, and each has an expandable and retractable vacuum passage, which is extended through them with a vacuum pad at one end of the vacuum passage.

Figure 4 illustrates an exploded view of a first embodiment of a double-acting cylinder shown in Figure 3.

Figure 5 illustrates a retracted cross-sectional view of the first embodiment of the double-acting cylinder of Figure 4, where the vacuum passageway extending longitudinally through it passes through a tube portion at spiral that can be extended and retracted from it.

Figure 6 illustrates an extended cross-sectional view of the first embodiment of the double-acting cylinder of Figure 5 showing the internally extended spiral tube portion.

Figure 7 illustrates a retracted cross-sectional view of a second embodiment of the double-acting cylinder shown in Figure 3, where the vacuum passage extending longitudinally through it passes through a portion with tubes nests that can be extended and retracted from it.

Figure 8 illustrates an extended cross-sectional view of the second embodiment of the double acting cylinder showing the part with nested tubes extended.

Figure 9 illustrates a first step of the method, where a plurality of double-acting cylinders of the manipulator of Figure 3 are in a retracted position from the movable arm of the autonomous robotic vehicle.

Figure 10 illustrates a second method step, where the plurality of double acting cylinders of Figure 9 are moved to an extended position by pressurizing a rear chamber of each of the double acting cylinders.

Figure 11 illustrates a third step of the method, where the pressure in a front and rear chamber of each double-acting cylinder is vented to the atmosphere, and the robotic arm is moved forward to bring the vacuum cups into contact with the irregular row of articles, where the double-acting cylinders fit passively and proximally to the irregular row of articles.

Figure 12 illustrates a fourth step of the method, where an air pressure is applied to the front chamber of the double acting cylinder and the articles begin to move towards the manipulator. It is a flow chart showing the steps of the method when using the double acting cylinders or.

Figure 13 illustrates a fifth step of the method, where the robotic arm and the manipulator place the items on a transport surface.

FIG. 14 is a method flow chart showing the steps of the method of using the double acting cylinders to pick up the articles and move them to the conveying surface.

DETAILED DESCRIPTION OF THE INVENTION

Figures 1 and 2 represent a first robotic vehicle 100 and a second robotic vehicle 200 respectively. The first robotic vehicle 100 is configured to load and unload articles 50, and the second robotic vehicle 200 is configured to discharge large quantities of articles 50 quickly. The first and second robotic vehicles 100, 200 can operate autonomously, and can be sized to operate on truck trailers or freight containers (not shown) or in a warehouse environment. As will be described below, each of the first autonomous robotic vehicle 100 and the second robotic vehicle 200 include double-acting cylinders 300 of the present innovation for picking up and dropping articles 50 therewith.

As shown in Figure 1, the first robotic vehicle 100 may comprise a movable body 120 that has a transport surface 102, a controller 124, a source of compressed air 126, at least one display element 127, and a robotic arm. 140 attached to it. A manipulator 142 attached to a free end of robotic arm 140 and comprising a plurality of double-acting cylinders 300, each having a vacuum cup, also referred to as a "suction cup" herein, that can be extended 302 for collection and / or the placement of articles 50 during loading or unloading. Controller 124 can use display element 127 to autonomously move the first robotic vehicle 100 into a trailer or container (not shown) on wheels 121. Once in position, controller 124 can autonomously control loading and unloading of items 50 by coordinating the movement of robotic arm 140, manipulator 142, double-acting cylinders 300, and applying vacuum to vacuum cups 302. This process will be described later. Articles 50 can comprise cartons, packaged goods, bags, shrink film trays, and the like. Transport surface 102 can transport articles 50 to robotic arm 140 during loading, and can move articles 50 away during unloading.

In Fig. 2, a second robotic vehicle 200 is depicted for unloading large volumes of general commercial items 50 into a truck or truck trailer. The second robotic vehicle 200 may comprise a movable body 220 having an organizing transport surface 202, a controller 224, a source of compressed air 226, at least one display element 227, and a robotic arm 240 attached thereto. A manipulator 242 is attached to the movable end of the robotic arm 240 and comprises a plurality of double-acting cylinders 300 with vacuum cups 302 that can be extended and retracted thereon. The cylinders 300 and vacuum cups 302 can be extended and retracted to pick up articles by means of the vacuum, and can place and drop the articles 50 on the organizing transport surface 202. Controller 224 can autonomously move robotic vehicle 200 into a truck or container (not shown) on wheels 221, and after scanning items to be unloaded with display 227, can unload Autonomous items 50 with robotic arm 240 and manipulator 242. The robotic arm 240 approaches to pick up multiple items 50 with the manipulator 242, and returns to the rear in order to place the items 50 that it has picked up on the transport surface 202. The transport surface 202 transports the placed articles 50 by means of the robotic arm 240 and carries them out into a back of the second robotic vehicle 200. The compressed air source 226 may be in the second robotic vehicle 200 or it may be supplied from the warehouse environment. Controller 224 controls all movements and actions of second robotic vehicle 200.

Figure 3 shows an enlarged view of the manipulator 242 comprising the plurality of double-acting cylinders 300, each with a vacuum pad 302 defining an extending and retracting end thereof. The vacuum cups 302 can extend away from the manipulator 142 to pick up or catch the articles 50, and can be retracted rearward in order to bring the articles 50 closer to the manipulator 242. The vacuum cups 302 can be made of an elastomer and can partially deform when they contact the articles 50 to ensure a vacuum seal between the two. The double-acting cylinders 300 can be extended or retracted with compressed air from the compressed air source 226, and each of the vacuum cups 302 can be connected in a controlled manner to one or more sources of vacuum or suction 360. As shown, the vacuum sources 360 can be individual vacuum generators attached to a rear of each double-acting cylinder 300. Each vacuum pad 302 can communicate with the vacuum source 360 ​​through the double-acting cylinders. 300 to adhere to the articles 50 held with vacuum and to be able to manipulate them. Controller 224 controls all movements and actions of second robotic vehicle 200.

The innovation set forth and claimed herein, in one aspect of this, is a double-acting cylinder 300 that can be extended and retracted with a variable-length vacuum passage 390 extending through it, which changes its length. while the double-acting cylinder 300 extends and retracts. Each double-acting cylinder 300 may include a vacuum pad 302 and a vacuum source 360 ​​that communicate through the variable-length vacuum passage 390. The double-acting cylinder 300 can be used with the first robotic vehicle 100 or the second robotic vehicle 200, or with other fixed location material handling equipment, such as, but not limited to, palletizers with manipulators and moving robotic arms. .

Figures 4-6 show a first embodiment of the double-acting cylinder 300 of the present innovation, hereinafter referred to as the double-acting cylinder 300a. Double-acting cylinder 300a is shown exploded in Figure 4, retracted in Figure 5, and extended in Figure 6. The double-acting cylinder 300a may comprise a vacuum pad 302 at one end that can be extended and retracted therefrom, a vacuum source 360, and a passage 390 that connects the vacuum pad 302 with the vacuum source 360 ​​through the double acting cylinder 300a. The passage 390 of the double-acting cylinder 300a may have a rigid part 392, through the hollow stem 366, and a flexible part 396, through the spiral tube 394, which varies in length as the double-acting cylinder 300a extends. and retracts. With the passage 390 inside the double-acting cylinder 300, the double-acting cylinders 300 can be positioned closer to each other on the manipulator 142 or 242 in order to maximize the number of vacuum cups 302 to contact the items. fifty.

The double-acting cylinder 300a comprises a hollow cylinder 374 sealed at a front end 376 and a rear end 378 by seals 312, so as to define a chamber 372 between them. Piston 370, which is mounted to reciprocate within a chamber 372 of cylinder 374, is attached to a hollow rod 366 and includes a piston ring 371. Piston ring 371 divides cylinder hollow chamber 372 into front chamber 382 and rear chamber 384. Shaft seal 306 mounts to front end 376 and slidably fits into hollow rod 366 The protruding end 368 of the hollow stem 366 extends from the front end 376 and is openly attached to a vacuum pad 302 with a pad connection member 304. Piston 370 can extend and retract vacuum cup 302 toward and away from front end 376 in response to fluid actuation. The flexible portion or spiral tube 394 is located within the rear chamber 384 and is connected to the hollow stem 366 through a piston connection element 340, and to a rear end 378 through a rear connection element 342 . The rear connection member 342 openly communicates with the vacuum source 360 ​​through the rear end 378 and the vacuum connection member 361. The passage 390 of the double-acting cylinder 300a is openly communicated through the connection element of the suction cup 304, the hollow rod 366, the connection element of the piston 340, the flexible part 394, the rear connection element 342, the end rear 378 and the vacuum connecting member 361, so as to connect the vacuum pad 302 with the vacuum source 360 ​​through the double-acting cylinder 300a. The vacuum source 360 ​​may be a vacuum generator that generates vacuum from the application of compressed fluid, such as air, which is supplied to the port 362, but is not limited thereto.

To extend the vacuum pad 302, a pressurized fluid, such as air, is supplied into the rear chamber 384 through a fluid connection element or air connection element 314a, while the front chamber 382 is discharged to the atmosphere. While the rear chamber 384 is pressurized, the piston 370 moves toward the front end 37 6 which pushes the air out of the front chamber 382 and extends the vacuum pad 302 (see FIG. 6). To retract the extended vacuum pad 302, pressurized air is applied to the front chamber 382 through the air connection member 314b while the rear chamber 384 is discharged to atmosphere (see FIG. 5). As will be described later, the discharge of the front and rear chambers 382, ​​384 to the atmosphere maintains the vacuum pad 302 in position from friction or drag between the piston ring 371 and the hollow cylinder 374 and the friction and drag between shaft seal 306 and hollow stem 366.

Flexible portion 394 of passage 390 may comprise flexible tube 396 that extends and retracts in response to movement of stem 366 and piston 370. Flexible tube 396 can be coiled to increase its extension and can be made from nylon or any other suitable material, such as, but not limited to, polyurethane or metals, such as spring steels or nitinol. Positioning 10 of the flexible tube 396 within the bore 372 of the cylinder 374 protects the flexible tube 396 from unwanted damage from collisions, limits flexing of the tube, and shortens the length of the double-acting cylinder 365. A stopper 352 may be provided at rear recess 384 to limit rearward movement of piston 370 to prevent over-tensioning of hose 396. Stopper 252 can be sized to receive flexible portion 394 (flexible tube 396) from passage 390 therein. Stopper 352 can be attached to cylinder 374 or, alternatively, it may be attached to second end 378 or free float on cylinder 374.

Figures 7 and 8 show a second embodiment of the double-acting cylinder 300 of the present innovation, hereinafter referred to as the double-acting cylinder 300b. The first and second embodiments of double-acting cylinders 300a, 25 300b are configured so that they are interchangeably mounted on manipulators 142 and 242, and can use the same vacuum cups 302, vacuum sources 360, and connecting elements. of air 314a, 314b. Double-acting cylinder 300b also includes an open vacuum passage 490 that can vary in length, passage 490 extending through double-acting cylinder 300b between vacuum pad 302 and vacuum source 460.

The double-acting cylinder 300b comprises a hollow cylinder 474 sealed at a front end 476 and a rear end 478 by seals 312, so as to define a chamber 472 between them. The piston 470 is mounted to reciprocate in the hollow cylinder 474 and forms a seal therewith by the piston ring 471, to divide the hollow cylinder chamber 472 into a front seal chamber 482 and a seal chamber. back 484. Magnetic ring 436 may be attached to piston 470 adjacent to piston ring 471 and may be in contact with hollow cylinder 474. Front shaft 466 is hollow, is attached to piston 470, and slidably mounted therein. Hollow shaft 466 extends through piston 470, attached thereto, and has a protruding end 468 extending from front end 476. The shaft seal 406 is mounted on the front end 476 to form a seal with the reciprocating front shaft 466. The vacuum pad 302 is attached to the protruding end 468 of the front shaft 466 with the pad connection member 404. A hollow inner shaft 467 extends from a rear end 478 and lies within the hollow front shaft 466 o is received so that you can slide into it. Shaft seal 5 469 is attached to a front part of the inner shaft

467 and forms a slip joint 469 with movable front axle 466. By extending the double-acting cylinder 300b from the retracted position, shown in Figure 7, to the extended position, shown in Figure 8, the front axle 466 slides along the rear axle 467 while maintaining a seal of empty with this one. As shown, vacuum path 490 and protruding end 468 vary in length as front shaft 466 extends or retracts from front end 476. The passage 490 of the double-acting cylinder 300b extends openly through the hollow front shaft 466, the piston 470, the hollow rear shaft 467, through the rear end 378, the vacuum connection element 361 and connects the power source. vacuum 360 with the vacuum pad 302 through the double-acting cylinder 20 300b.

To extend the vacuum pad 302, a pressurized fluid, such as air, is supplied into the rear chamber 484 through an air connection member 314a, while the front chamber 482 is discharged to atmosphere.

As rear chamber 484 is pressurized, piston 470 moves toward front end 476 which forces air out of front chamber 482 and extends vacuum pad 302 (see FIG. 7). As piston 470 moves forward, hollow front shaft 466 internally exposes rear shaft 467 (see FIG. 8) and gasket 469 maintains a vacuum seal between the two. To retract the extended vacuum pad 302, pressurized air is applied to the front chamber 482 through the air connection element 314b while the rear chamber 484 is discharged to atmosphere (see FIG. 8). The discharge of the front and rear chambers 482, 484 to the atmosphere maintains the vacuum pad 302 in position from friction or drag between piston ring 471 and hollow cylinder 374, from friction and drag between the shaft joint 406 and hollow stem 466, and joint 469 that forms a seal between front shaft 466 and rear shaft 467. If cylinder 474 is a magnetic metal such as steel or iron, magnetic ring 436 attached to piston 432 can magnetically hold piston 436 in it for a greater holding capacity of suction cup 302. Friction, The dragging and gripping ability can be used in a method described below to lift pluralities of items having an irregular face to the vacuum pads 302 of the manipulator 142, 242.

Figures 9-13 schematically illustrate a method of using a plurality of double-acting cylinders 300 to pick up articles 50 with vacuum cups 302. The double-acting cylinders 300 can be any of 5 double-acting cylinders 300a or 300b. The method described below can be used with either the first robotic vehicle 100 or the second robotic vehicle 200, you can use either double-acting cylinder 300a or 300b, and dual item numbers can be applied to each item 10 shown schematically. . When each of the first robotic vehicle 100 or the second robotic vehicle 200 have items that perform the same function but are physically different, the item name can have two item numbers associated with it. An example of this is the robotic arm 140, 240 shown in Figures 1-2 and Figures 913. The first robotic vehicle 100 has the robotic arm 140 and the second robotic vehicle 200 has the robotic arm 240. Both appear to be physically different, and both move according to the method shown in Figures 9-13 20 and described below. The reader is directed to Figure 1 to view the first robotic vehicle 100 and the items and item numbers associated with it, and to Figure 2 to view the second robotic vehicle 200 and the items and item numbers associated with it. Some parts are common to the 25 first robotic vehicle 100 and the second robotic vehicle

200, such as double-acting cylinders 300, vacuum cups 302, air connection elements 314a and 314b, and vacuum sources 360. As described above, vacuum cups 302 are connected to 5 generators 360 vacuum through double-acting cylinders.

In Figures 9-13, each of the first or second robotic vehicle 100, 200 is schematically represented as having a manipulator 142, 242 comprising a plurality of 10 double-acting cylinders 300 for picking up articles 50. Each manipulator 140, 240 is attached to a respective robotic arm 140, 240 for movement therewith, and each robotic arm 140, 240 is attached to a respective movable body 120, 220. A controller 124, 224 is attached to the respective first or second robotic vehicle 100, 200 and controls the movement of the respective movable body 120, 220 and the respective robotic arm 140, 240. A compressed air source 126, 226 is attached to the respective robotic vehicle 100, 200 and is connected to the double-acting cylinders 300. In each of the first and second 20 robotic vehicles 100, 200, the respective compressed air source 126, 226 is connected, via air conduits, to an extension valve 500, which is connected to the rear air connection element 314a at a double-acting cylinder 300, to a retraction valve 510, which is connected to the front air connection element 314b in a double-acting cylinder 300, and to a suction valve 520 that connects to port 362 of the vacuum source 360. Each of the extension valve 500, the retraction valve 510 and the suction valve 520 is present in the first and second robotic vehicles 100 , 200, operates independently and is operatively connected to the respective controller 124, 224.

Each of the extension valve 500 and the retract valve 510 is a three-position valve with an open position, which sends pressurized air to the front chambers 382, ​​482, or the rear chambers 384, 484, of the pressure cylinders. double acting 300a, 300b to extend or retract double acting cylinders 300. Extension valve 500 and retraction valve 510 also have a closed position that retains pressurized air in one of the respective front or rear chambers 382, ​​384 of double-acting cylinder 300 to hold the double-acting cylinder in one position. extended or retracted. The extension valve 500 and the retract valve 510 also have a discharge position that connects the front chambers 382, ​​482 and the rear chambers 384, 484 of the double acting cylinders 300a, 300b respectively with air at atmospheric pressure. The extension valve 500 has an extension relief hole 500a, to discharge pressure from the rear chamber 384 or 484, and the retraction valve 510 has a retraction relief hole 510a, to discharge pressure from the front chamber. 382 or 482 of double-acting cylinders 300a and 300b respectively.

When the extension valve 500 is in the discharge position, the pressurized air in the rear chamber 384, 484 is discharged to the atmosphere through the extension discharge hole 500a. When the retract valve 510 is in the discharge position, pressurized air in the rear chamber 384, 484 is discharged to the atmosphere through the retract discharge hole 510a.

The suction valve 520 has an open position to supply compressed air, in order to generate a vacuum in the vacuum source 360, and a closed position to block the air supply to the vacuum source and in order to stop the vacuum. generation of the vacuum in the vacuum source 360. The suction valve 520 can be placed in a discharge position, in which the suction discharge hole 520a is opened to the atmosphere to break the vacuum in the double-acting cylinder 360 . For clarity, only one set of valves 500, 510, and 520 and one set of air connection ducts to one of the double-acting cylinders 300 are shown in Figures 9-12. The extension cylinders 365 may be air cylinders. double-acting fluid that can be operated with a compressible or incompressible fluid, such as air or a hydraulic fluid.

Figure 9 shows a pair of items 50 with staggered positioning ready to be picked up by a plurality of double-acting cylinders 300 on the manipulators 142, 242. The staggered positioning of the 5 items 50 exceeds the deformation capabilities of the suction cups. empty 302.

Figure 14 depicts a method of controlling a robotic arm 140, 240 with the controller 124, 224 (see Figures 9-13). The robotic arm 140, 240 is configured to passively fit a plurality of irregular items 50. The robotic arm comprises a manipulator 142, 242 movable with the robotic arm 140, with a plurality of double-acting cylinders 300 attached to the manipulator 142, 242. Each of the double-acting cylinders 300 has a front chamber 382, ​​482 and a rear chamber 384, 484 and each has a vacuum pad 302 that can be moved while the double-acting cylinder 300 is extended and retracted. Each of the vacuum cups 302 is connected to a passage 390 that extends through the double-acting cylinder 300, where each passage 390 varies in length as the double-acting cylinder 300 extends and retracts. A vacuum source 360 ​​is switchable connected to vacuum cups 302 through passage 390, and a compressed air source 126, 226 is switchable connected to each. of the front chambers 382, ​​482 and rear chambers 384, 484 to respectively extend and retract the vacuum cups 302. As shown in Figure 14, the method comprises the following steps.

Block 602 illustrates the step of extending double-acting cylinders 300 from manipulator 242 by pressurizing rear chamber 384, 484. As shown in Figure 10, extension valve 500 is open to supply compressed air from the compressed air source 126, 226 to the connection element 314a and into the rear chamber 384, 484. The air lines supplying the compressed air are shown in bold to indicate the pressure inside them.

Block 604 illustrates the step of preparing double-acting cylinders 300 to passively move proximally by opening front chamber 382, ​​482 and rear chamber 384, 484 to atmospheric pressure. This step is illustrated in Figure 11, in which controller 124, 224 opens each extension valve 500 and retract valve 510 to relieve pressure in front chamber 382, ​​482 and rear chamber 384, 484 out of the hole. extension discharge hole 500a and retraction discharge hole 510a. The air pressure lines involved in this step are in bold.

Block 606 illustrates the step of operating each vacuum source 360 ​​of each double-acting cylinder 300 to provide suction to a respective vacuum pad 302. This step is illustrated in Figure 12, in which controller 124, 224 opens suction valve 520 to provide compressed air to vacuum source 360 ​​and to create a suction or vacuum in passage 390, 490 and at the vacuum cups 302. Air lines to vacuum switch 520 and vacuum source 360 ​​are in bold to show the path of compressed air to these.

Block 608 illustrates the step of moving manipulator 142, 242 distally with robotic arm 140, 240 so as to fit the plurality of irregular items 50, where the movement causes each double-acting cylinder 15 300 to retract. , passively and proximally, from contact of the vacuum pad 302 with a respective irregular article 50 so as to passively fit the suction cups 302 and the double-acting cylinders 300 to the plurality of irregular articles 50. This step is also illustrated in FIG. 12, in which an arrow extends from the robotic arm block 140, 240 to show the direction of movement of the robotic arm 140, 240 and associated manipulator 142, 242. In this view, the controller 124, 224 moves the robotic arm 140, 240 and holds the suction valve 520 open. The cylinders 300 are shown passively and proximally retracted from contact of the vacuum pad 302 with an article. 50 respective irregular.

Block 610 illustrates the step of providing compressed air to front chamber 382, ​​482 of double-acting cylinders 300 while maintaining suction or vacuum at suction cups 302 to retract the plurality of irregular items 50 toward manipulator 242. This step is also controlled by the controller 126, 226 and is illustrated in Figure 12, in which an arrow is provided on the items 50 to indicate the movement of the items 50 from the dashed line position to the position of solid lines. In this view, controller 126, 226 holds suction valve 520 open.

Block 612 illustrates the step of providing a transport surface 102, 202 and positioning at least one of the manipulator 142, 242 and a transport surface 102, 202 such that the plurality of irregular items 50 are placed on the transport surface 102 , 202. This step is illustrated in Figure 13. In this figure, the controller 126, 226 has moved the robotic arm 140, 240, the manipulator 142, 242, and the items 50 to the transport surface 102, 202 and the vacuum is still provided to the vacuum cups 302. One time As the vacuum 302 is removed, the articles will be deposited on the conveying surface 102, 202.

Block 614 illustrates the step of removing the suction from the suction cups to release the plurality of irregular items on the transport surface, relocate the manipulator, and transport the recovered cartons 5 to another location. This step is not shown.

As described above, the present innovation may comprise a double-acting fluid cylinder 300 comprising a hollow cylinder 374, 474 having a front end 376, 476 and a rear end 378, 478 10 that enclose a chamber 372, 472 inside. A rod 366 and a piston 370 are reciprocably movable within chamber 372, 472 and with a tip 368, 478 of rod 366, 466 protruding through front end 376, 476 of double-acting cylinder 300. A passage 390, 490 15 extends through double-acting cylinder 300 from rear end 378, 478 to protruding tip 368, 468 of stem 366, where passage 390, 490 provides open communication between tip 368, 468 and rear end 378, 478 and varies in length along the direction of reciprocating motion, while rod 366, 466 and piston 370, 470 move.

In the foregoing description, the same reference characters designate similar or corresponding parts throughout the various views. Furthermore, in the following description, it should be understood that terms such as front, rear, interior, exterior, and the like are convenient words and are not to be construed as limiting terms. The terminology used in this patent is not intended to be limiting to the extent that the devices described herein, or parts thereof, can be attached or used in other orientations. In the flowchart described above, one or more of the methods can be performed on a computer-readable device that contains computer-readable code, so that a number of functional processes are performed when the computer-readable code is executed in a computing device. In some implementations, certain steps of the methods are combined, performed simultaneously, or in a different order, or perhaps skipped, without departing from the scope of the discussion. Therefore, although the blocks of the method are described and illustrated in a particular sequence, the use of a specific sequence of functional processes represented by the blocks does not imply any limitation on the discussion. Changes can be made to the sequence of processes without departing from the scope of this discussion. Therefore, the use of a particular sequence should not be taken as limiting, and the scope of the present disclosure is defined solely by the appended claims.

Aspects of the present disclosure are described above with reference to flowchart illustrations and / or block diagrams of the methods, apparatus (systems), and computer program products in accordance with the disclosure embodiments. It will be understood that each block in the flowchart illustrations and / or blog diagrams, and the combinations of blocks in the flowchart and / or block diagram illustrations can be implemented by computer program instructions. The computer program code to carry out the operations of the aspects of the present disclosure may be written in any combination of one or more programming languages, including an object-oriented programming language, without limitation. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, such as a service processor, or other programmable data-processing apparatus to produce a machine, so that the instructions, which they are executed by means of the computer processor or other programmable data processing device, perform the method to implement the functions / actions specified in the flowchart and / or the block or blocks of the block diagram.

All publications, patents and patent applications cited herein, both above and below, are therefore incorporated herein by reference in their entirety to the same extent as if each publication were specifically and individually indicated that each publication is incorporated by reference. , patent or individual patent application. It should be appreciated that any patent, publication or other material in the disclosure, in whole or in part, that is said to be incorporated by reference herein is incorporated herein only to the extent that the material incorporated does not conflict. with existing definitions, statements, or other exhibit material explained in this exhibit. That is, and to the extent necessary, the disclosure as explicitly explained herein supersedes any conflicting materials incorporated herein by reference. Any material, or portion thereof, that is said to be incorporated by reference herein, but that conflicts with existing definitions, statements, or other exposure material explained herein, will be incorporated only to the extent not inconsistent with in conflict between that incorporated material and the existing material of the exhibition. It should be noted that, as used in this specification and the appended claims, the singular forms a, an, and the include references to the plural, unless the content clearly dictates otherwise. Thus, for example, a reference to a coloring agent includes two or more such agents.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the invention belongs. Although different methods and materials similar or equivalent to those described herein can be used, in practicing the present invention the preferred materials and methods are described herein.

References within the specification to an embodiment, embodiments, or one or more embodiments are intended to indicate that a particular feature, structure, or feature described in connection with the embodiment is included in at least one embodiment of the present disclosure. The appearance of such phrases at various places within the specification do not necessarily all refer to the same embodiment, nor are they independent or mutually exclusive alternative embodiments of other embodiments. Furthermore, various features are described that may be exhibited in some embodiments and not others. Similarly, various requirements are described which may be requirements of some embodiments but not other embodiments.

It is understood that the use of names of specific components, devices and / or parameters and / or the corresponding acronyms of these, such as those of the utility, logic and / or firmware that runs described herein, are solely as a are exemplary and are not meant to imply any limitations on the described embodiments. Thus, embodiments may be described with different nomenclature and / or terminology than that used to describe the components, devices, parameters, methods, and / or functions herein, without limitation. References to any specific protocol or trade name when describing one or more elements, features, or concepts of the embodiments are provided solely as examples of one implementation, and such references do not limit the extent of the claimed embodiments to the embodiments in which they are used. the different names of the element, feature, protocol or concept. Therefore, each term used herein should be given its broadest interpretation given the context in which those terms are used.

As one skilled in the art will appreciate, the methods and compositions of the invention substantially reduce or eliminate the disadvantages and drawbacks associated with the prior art methods and compositions.

It should be noted that, when used in the present discussion, the terms comprise, comprising, and other derivatives of the root term comprises are intended to be terms of broad meaning that specify the presence of any exposed characteristics, elements, integers, steps or components and not are intended to exclude the presence or addition of one or more different characteristics, elements, integers, steps, components, or groups of these.

As required, the 10 detailed embodiments of the present invention are set forth herein; however, it should be understood that the disclosed embodiments of the invention are merely exemplary, which can be realized in various ways. Therefore, the specific structural and functional details set forth herein should not be construed as limiting, but merely as a basis for the claims and as a representative basis for advising one skilled in the art how to variously employ the present invention in virtually any suitably detailed structure.

While it is apparent that the illustrative embodiments of the invention set forth herein meet the objectives set forth above, it will be appreciated that one skilled in the art can devise numerous modifications and other embodiments. Accordingly, it will be understood that the appended claims are intended to encompass all such modifications and embodiments, which are within the nature and scope of the present invention.

It is noted that in relation to this date, the best method known to the applicant for putting the aforementioned invention into practice is the one that is clear from the present description of the invention.