Robotic picking assemblies with highly damped suction cups

Systems and methods are disclosed for robotic picking assemblies with highly damped suction cups. In one embodiment, an example suction cup for a picking assembly may include a shell formed of an elastomeric material, where the shell forms a first bellow. The suction cup may include a first fluid chamber disposed on an outer portion of the suction cup, a first opening, where fluid from the first fluid chamber passes through the first opening, and an optional second fluid chamber disposed on an inner portion of the suction cup. The suction cup may include an optional second opening formed in the shell, where fluid from the second fluid chamber passes through the second opening. The first fluid chamber and the second fluid chamber may be configured to dampen movement of the suction cup.

BACKGROUND

As users increasingly make online purchases, fulfilment of such purchases and other orders may become increasingly complicated. For example, a fulfillment center may have output of upwards of one million packages per day. With such demands, efficiency of logistics related to processing orders and packages may be important. Accordingly, improvements in various operations of order fulfillment, such as improvements to picking technology, sorting technology, packing technology, and so forth may be desired, such that manual efforts can be redirected to different tasks.

The detailed description is set forth with reference to the accompanying drawings. The drawings are provided for purposes of illustration only and merely depict example embodiments of the disclosure. The drawings are provided to facilitate understanding of the disclosure and shall not be deemed to limit the breadth, scope, or applicability of the disclosure. The use of the same reference numerals indicates similar, but not necessarily the same or identical components. Different reference numerals may be used to identify similar components. Various embodiments may utilize elements or components other than those illustrated in the drawings, and some elements and/or components may not be present in various embodiments. The use of singular terminology to describe a component or element may, depending on the context, encompass a plural number of such components or elements and vice versa.

DETAILED DESCRIPTION

Overview

Fulfillment centers may be used to fulfill online purchases and other orders. For example, fulfillment centers may include product inventory that may be pulled when an order for a particular product or multiple products is placed. In some instances, the product(s) may be packed and shipped from the fulfillment center. However, the process of obtaining the product(s), packing the product(s), and shipping the product(s) may be complicated due to the amount of inventory, the number of orders to process, the size of the fulfillment center, and/or other factors. In addition, a portion of the fulfillment center designated for packing or shipping may be different than the portion of the fulfillment center designated for holding product inventory. As a result, transportation of products in an order may be time consuming.

Moving items or objects through a fulfillment center may require handling of the item itself. For example, picking the item from inventory, placing the item into a container, removing the item from a container, and so forth may all be examples of actions for which an item may need to be handled. In addition, different items may have different types of packaging. For example, some items may come in boxes, some items may come in loose bags, some items may come shrink wrapped, some items may not have any packaging, and so forth. In addition, retrieving a certain number of items, such as singular items, or multiple items in cluttered environments (e.g., stacked on top of each other or otherwise in a number of layers, etc.), may be difficult, and may depend on a type of packaging in which the item comes with. Humans may be able to manually handle individual items with ease. However, robotic handling of items may require various levels of dexterity. In addition, using a robot or other machine to grasp an item in a cluttered environment, such as a box or tote with multiple items inside, may be difficult to achieve reliably using mechanical systems.

In addition, when grasping large and/or heavy items, such as large packages or boxes, the items may be susceptible to dropping or otherwise coming detached from suction cups or other end of arm tools coupled to robotic manipulators. For example, if the robotic manipulator moves the item with too much acceleration, the item may not be securely grasped by a suction cup assembly, and may become detached and/or fall from the suction cup assembly. The item may then need to be re-grasped and/or manually handled, causing delays in processing. To avoid such issues, acceleration and/or speed of robotic manipulators may be limited, which results in a potential bottleneck in processing of such items. However, although reducing speed and/or acceleration of robotic manipulators may reduce a risk of an item coming loose or falling, an appropriate speed or acceleration may be difficult to determine and may not be applicable to all sizes, shapes, and/or weights of large items.

Embodiments of the disclosure include suction cup assemblies, which may be used in conjunction with end of arm tools and/or robotic manipulators, such as robotic arms, to grasp and move large and/or heavy items with increased acceleration, and while reducing a risk that a grasped item will detach from the suction cup(s). Some embodiments include individual suction cups that have increased damping ratios relative to typical suction cups. For example, certain embodiments may have suction cup damping ratios of at least 0.3 to about 1.5. Some embodiments may have damping ratios of about 0.7. Relative to typical suction cup damping ratios of 0.1, embodiments of the disclosure may reduce force amplification that occurs when moving objects that are attached to the suction cup. Some embodiments increase damping ratios by including two or more materials in different discrete layers of the suction cup (e.g., via over-molding, etc.), whereas other embodiments include various mechanical fluid-based features (e.g., using metered air or fluid filled volumes that shuttle fluid across a restriction to provide damping, etc.) to increase damping. As a result, force amplification is reduced, and larger and/or heavier packages can be handled at relatively higher acceleration. Some embodiments can therefore increase speed of consolidating products in a multi-item order. As a result, throughput of fulfillment centers may be improved, and/or logistics of fulfillment center operations may be less complicated.

Referring toFIG.1, an example use case100for robotic picking assemblies with highly damped suction cups and an example process flow in accordance with one or more embodiments of the disclosure. Although discussed in the context of online orders, other embodiments may be directed to any suitable use case where objects are picked and released, such as instances where objects are picked from inventory, placed into containers, removed from containers for sorting, and so forth.

InFIG.1, a fulfillment center may include an inventory field110, a routing sorter160, one or more item sorting machines170, and one or more packing stations180. The inventory field110may be include a storage platform, or a portion of the fulfillment center at which products picked from product inventory are placed. Robots may be used to pick products from inventory and to deliver to the robotic storage platform in some instances, while in other instances, manual labor or a combination thereof may be used to pick products. For example, robotic picking assemblies with highly damped suction cups may be used to pick objects from inventory containers and to place the retrieved objects into containers. The picking process at the robotic storage platform may include locating a product in an order, obtaining the product, and sending the product to a robotic storage platform, such as via a conveyor belt. In the illustrated embodiment, products at the robotic storage platform may be placed in a container, such as a tote.

The inventory field110may include multiple items that are in inventory. The items may be used to fulfill orders. The inventory field110may be a robotic field in some instances. One or more picking stations130may be positioned along a perimeter120of the inventory field110. The picking stations130may be manually operated or may include robotic components, or a combination thereof. In some instances, picking of items from the inventory field110may be completed by robots that include robotic picking assemblies with highly damped suction cups, where the items are delivered to the picking stations130after being retrieved from the inventory field110. Any number of picking stations130may be included, and the picking stations130may be located in a different position than that illustrated inFIG.1.

One or more conveyors150may be disposed about the inventory field110. For example, conveyors150may be disposed along the perimeter120of the inventory field110. The conveyors150may run adjacent to the picking stations130in some embodiments. Any suitable conveyor configuration may be used. In the illustrated example, the conveyors150may include belts or rollers that run alongside the picking stations130and include one or more paths to one or more routing sorters.

The conveyors150may be used to transport one or more totes140. For example, as totes140move along the conveyors150, items may be moved from the picking stations130into respective totes140. The totes140may be associated with particular item sorting machines, and may be moved using the conveyors150to a routing sorter160.

The routing sorter160may be configured to route, divert, or otherwise guide certain totes to an item sorting machine. The routing sorter160may include any combination of ramps, slides, rollers, arms, guides, and/or other components to route totes to a particular item sorting machine. At the routing sorter160, totes including products that have been picked may be routed to the appropriate or designated item sorting machine. For example, the routing sorter160may determine an identifier associated with the tote, and may determine an item sorting machine associated with the tote using the identifier. The routing sorter160may route or direct the tote to the appropriate item sorting machine.

A number of item sorting machines170may be coupled to the routing sorter160. For example, a first item sorting machine172, a second item sorting machine174, a third item sorting machine176, and so forth may be coupled to the routing sorter160. The routing sorter160may guide totes to the item sorting machines to which they are assigned. For example, a first tote162may include item1, item16, and item23, and may be assigned to the first item sorting machine172. The routing sorter160may therefore route the first tote162to the first item sorting machine172for sortation of the respective items. A second tote164may include item1656, and may be assigned to the second item sorting machine174. The routing sorter160may therefore route the second tote164to the second item sorting machine174for sortation of the item. A third tote166may include item989, item145, and item34, and may be assigned to the third item sorting machine176. The routing sorter160may therefore route the third tote166to the third item sorting machine176for sortation of the respective items.

Some or all of the item sorting machines may be associated with one or more packing stations180that may be used to pack items into a shipment when a single-item or multi-item order is complete. For example, the first item sorting machine172may be coupled to a first packing station182, the second item sorting machine174may be coupled to a second packing station184, the third item sorting machine176may be coupled to a third packing station186, and so forth. The item sorting machines may be configured to receive items from totes that have one or more, or multiple, items. The number of totes and/or the number of items associated with respective item sorting machines may be balanced, and multiple totes may be routed to the first item sorting machine172and the second item sorting machine174at the same time.

At any of the stages of the example fulfillment process ofFIG.1where handling of objects is used, such as to pick items from inventory, place items in totes, remove items from totes, place items into bins, remove items from bins, place items into boxes for shipping, handling packed boxes and/or packages, and so forth, robotic picking assemblies with highly damped suction cups as described herein may be used. As a result, manual effort can be redirected to other tasks.

Embodiments of the disclosure include robotic picking assemblies with highly damped suction cups. Certain embodiments may improve processing speed and/or throughput of fulfillment centers. Certain embodiments may improve performance of mechanical equipment for sortation and/or consolidation of items. While described in the context of online orders, aspects of this disclosure are more broadly applicable to other forms of object handling.

Unlike other suction-based grippers, the robotic picking assemblies with highly damped suction cups described herein may retain grasp on heavy and/or large items, and may provide control over items that have been grasped during acceleration, with repeatable performance.

Example embodiments of the disclosure provide a number of technical features or technical effects. For example, in accordance with example embodiments of the disclosure, certain embodiments of the disclosure may improve processing speed, throughput, and/or efficiency of fulfillment centers. The above examples of technical features and/or technical effects of example embodiments of the disclosure are merely illustrative and not exhaustive.

One or more illustrative embodiments of the disclosure have been described above. The above-described embodiments are merely illustrative of the scope of this disclosure and are not intended to be limiting in any way. Accordingly, variations, modifications, and equivalents of the embodiments disclosed herein are also within the scope of this disclosure. The above-described embodiments and additional and/or alternative embodiments of the disclosure will be described in detail hereinafter through reference to the accompanying drawings.

Illustrative Embodiments and Use Cases

FIGS.2A-2Bare schematic illustrations of an example robotic picking assembly200and an example use case for grasping a large item using highly damped suction cups in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustration ofFIGS.2A-2Bmay not be to scale, and may not be illustrated to scale with respect to other figures. The robotic picking assembly illustrated inFIGS.2A-2Bmay be the same picking assembly discussed with respect toFIG.1.

InFIG.2A, the robotic picking assembly200may be an item manipulation system including a robotic manipulator202and a picking assembly or end of arm tool204having a suction manifold206including asymmetrical independently controllable suction zones, according to at least one example. The suction manifold206may include one or more highly damped suction cups as described herein. The robotic picking assembly200also includes a management device208and a vacuum pump210(e.g., any suitable pump cable of producing a negative pressure at the suction manifold206). While illustrated inFIG.2as being integrated with the robotic manipulator202, the management device208and the vacuum pump210may also be located remote from the robotic manipulator202. For example, the management device208may form part of a computer station at which the system200is implemented or may be located at a different facility altogether (e.g., control signals may be passed over a network connection). In some examples, the vacuum pump210may be shared among more than one robotic manipulator202(e.g., a single vacuum pump210may provide suction for multiple robotic manipulators202).

The robotic manipulator202may be any suitable material handling robot (e.g., Cartesian robot, cylindrical robot, spherical robot, articulated robot, parallel robot, SCARA robot, anthropomorphic robot, any other suitable robotic manipulator and/or robotic arm, automated guided vehicles including lift capabilities, vertical lift modules, gantries, overhead lift modules, and any other suitable material handling equipment that interacts with or otherwise handles objects) that is operable by the management device208(e.g., a computing device or other electronic controller).

The robotic manipulator202may include any suitable type and number of sensors disposed throughout the robotic manipulator202(e.g., sensors in the base, in the arm, in joints in the arm, in an end effector, or in any other suitable location). The sensors can include sensors configured to detect pressure, force, weight, light, objects, slippage, and any other information that may be used to control and/or monitor the operation of the robotic manipulator202, including the end of arm tool204. The sensors may include any suitable combination of sensors capable of detecting depth of objects, capturing RGB and other images of objects, scanning machine-readable information, capturing thermal images, detecting position and orientation of objects, and performing any other suitable sensing as described herein.

The end of arm tool204can include a rotational joint212that enables rotation of a substantial part of the end of arm tool204about a tool axis214, as illustrated by rotational arrows216. The tool axis214is defined as extending axially through a center of the end of arm tool204. This rotational capability of the end of arm tool204enables precise positioning of the suction manifold206with respect to a target area of an item. For example, the end of arm tool204may be rotatable at least 300 degrees and, in some examples, a full 360 degrees of rotation may be achieved. As the end of arm tool204may be rotated in a clockwise and counterclockwise direction, and when combined with the other degrees of freedom of the robotic manipulator202, the suction manifold206may be oriented in almost any suitable rotational orientation. As described herein, rotation of the end of arm tool204may be represented as the number of degrees of rotation, which may include a total combined number of degrees in two directions (e.g., 180 degrees of rotation can mean 90 degrees of counterclockwise rotation and 90 degrees of clockwise rotation) or the total number of degrees in one direction (e.g., 180 degrees of rotation can mean 180 degrees of counterclockwise rotation and 180 degrees of clockwise rotation). In some examples, the end of arm tool204may provide for infinite degrees of rotation, e.g., the end of arm tool204may freely rotate through multiple revolutions in one or both directions.

The picking assembly or end of arm tool204can also include the suction manifold206. The suction manifold206includes multiple asymmetrical independently controllable suction zones. Depending on characteristics of a target item, different zones may be turned on and turned off to increase the probability that the target item is picked successfully and adjacent items are left behind. This enables the robotic picking assembly200to successfully and efficiently singulate items from a set of items (e.g., a pile items of varying shapes, sizes, and surface properties).

The end of arm tool may also include a compliance mechanism218. The compliance mechanism218, which is connected to the suction manifold206, is configured to provide compliance to the suction manifold206. In particular, the compliance mechanism218, which includes one or more springs or other biasing device(s), controls translation of the suction manifold206along the tool axis214, e.g., in the directions indicated by translation arrows219.

The management device208may be configured to manage the operation of the robotic manipulator202(e.g., moving the robotic manipulator through different poses and orientations to position the end of arm tool204), manage operation of the vacuum pump210(e.g., turning on and off the pump, adjusting suction levels, etc.), manage the operation of the end of arm tool204(e.g., rotating the end of arm tool204to align suction zone(s) of the suction manifold206with an item), and manage operation of the suction manifold206(e.g., opening and closing valves to selectively apply suction in different suction zones of the suction manifold206). In some examples, the management device208may be distributed at one or more locations. For example, a first management device208may be local to the robotic manipulator202and include hardware and firmware and a second management device208may be remote from the robotic manipulator202and include software. The management device208may include any suitable combination of software, firmware, processors, memory devices, specialized chips, sensors, and the like to implement the techniques described herein. In some examples, the management device208receives instructions over a network from a server to perform the techniques described herein.

The robotic picking assembly200may be configured to manipulate various types of items such as items having a wide variety of different characteristics. Such items may include, for example, envelopes, bubble mailers, jiffy padded envelopes, personal electronic devices, computers, recreational equipment, food products, television sets, clothing, household supplies, automotive parts, appliances, books, and any other suitable object capable of being manipulated by the robotic picking assembly200.

InFIG.2B, the robotic picking assembly200is depicted in use at a first instance220while grasping a large and/or heavy item230, such as a package. The robotic picking assembly200may grasp the heavy item230using one or more highly damped suction cups that may be part of the end of arm tool coupled to the robotic manipulator202. Although a number of suction cups are depicted in the example ofFIG.2B, other embodiments may include different numbers of suction cups and/or suction cup assemblies, such as one or more suction cup assemblies. In the first instance220, the robotic picking assembly200may move with high acceleration and/or speed while maintaining a grasp on the heavy item230.

In contrast, at a second instance240, if typical suction cups were used with the robotic picking assembly200, the heavy item may become detached from the suction cups and fall. The highly damped suction cups in the first instance220may provide increased damping and may therefore result in improved grip at the same or increased acceleration.

FIG.3is a schematic illustration of a highly damped suction cup300in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustration ofFIG.3may not be to scale, and may not be illustrated to scale with respect to other figures. The suction cup illustrated inFIG.3may be the same suction cup discussed with respect toFIGS.1-2.

InFIG.3, the highly damped suction cup300may be used with a picking assembly to pick up objects, such as heavy and/or large boxes. Typically, picking up such items may result in use of reduced acceleration to prevent detachment of the item. However, unlike typical picking assemblies, robotic picking assemblies and highly damped suction cups described herein may be used to grasp large and/or heavy items, such as packages, while maintaining typical acceleration and/or movement speed while reducing a risk of detachment due to increased damping of the suction cup.

The highly damped suction cup300may be coupled to a vacuum suction system that may provide vacuum flow or negative air pressure to the individual suction cup assemblies. The negative air pressure may flow through the suction cups coupled to the individual suction cup assemblies, which may provide a force that can be used to grasp and lift items out of a container, off of a conveyor, or from another location. To release an item, for example onto a conveyor belt, the negative air pressure may be reduced and/or positive air pressure may be applied.

The highly damped suction cup300may have a damping ratio of at least 0.3, which may be greater than typical suction cup damping ratios of about 0.1. Some embodiments of the highly damped suction cup300may have damping ratios of up to 1.5, such as about 1.1. The highly damped suction cup300may reduce force amplification during movement while grasping an object, thereby decreasing a risk that the object becomes detached from the highly damped suction cup300.

The highly damped suction cup300may include a shell310formed of an elastomeric material, such as at least one of: chloroprene, sorbothane, nitrile-butadiene rubber, silicon, neoprene, and so forth. Other embodiments may include different materials and/or combinations of materials. The shell310may optionally form one or more bellows, such as a first bellow and a second bellow of the suction cup.

The highly damped suction cup300may include a flexible outer surface material360disposed between the first bellow and the second bellow. The flexible outer surface material360may be an integrated piece of the highly damped suction cup300, or may be separately coupled to the highly damped suction cup300. The flexible outer surface material360may be formed of the same material as the shell310or a different material.

The highly damped suction cup300may include a flexible inner surface material370that forms a vacuum flow passage360along a central axis of the suction cup300. Although depicted as a symmetrical circular suction cup, other embodiments may have different geometrical configurations, such as oval or square, where the central axis may be defined differently. In addition, vacuum flow may be routed to a side or other non-central portion of the suction cup in some embodiments. The flexible outer surface material360and the flexible inner surface material370may extend around the circumference of the highly damped suction cup300and the vacuum flow passage360, respectively. The flexible inner surface material370and the flexible outer surface material360may be configured to deform while grasping an item. The flexible inner surface material370and the flexible outer surface material360may be formed of the same elastomeric material as the shell310in some embodiments, such as chloroprene.

The highly damped suction cup300may include a first fluid chamber320disposed between the flexible inner surface material370and a first portion of the shell310that forms the first bellow. The first fluid chamber320may provide increased damping and may be configured to retain fluid, such as air, liquid, or other fluids. The highly damped suction cup300may include a first aperture322formed in the first portion of the shell310. Fluid from the first fluid chamber320may pass through the first aperture322. As fluid passes through the first aperture322, a damping effect may be created. The size of the first aperture322may be modified depending on the material of the shell310, the size of the highly damped suction cup300, the damping fluid used, and/or other factors.

The highly damped suction cup300may include a second fluid chamber330disposed between the shell310and the flexible outer surface material360. The second fluid chamber330may retain the same damping fluid as the first fluid chamber320or a different fluid. The highly damped suction cup300may include a second aperture332formed in the flexible outer surface material360, where fluid from the second fluid chamber330can pass through the second aperture332. As fluid passes through the second aperture332, a damping effect may be created. The size of the second aperture332may be modified depending on the material of the shell310, the size of the highly damped suction cup300, the damping fluid used, and/or other factors.

Some embodiments may include a third fluid chamber340disposed between the flexible inner surface material320and a second portion of the shell310that forms the second bellow. Such embodiments may include a third aperture342formed in the second portion of the shell310, which may be in fluid communication with the second fluid chamber320. Fluid from the third fluid chamber340may therefore pass through the third aperture342into the second fluid chamber330. In some embodiments, the highly damped suction cup300may include a fourth aperture formed in the flexible outer surface material360adjacent to the second aperture332, where fluid from the third fluid chamber340can pass through the third aperture332or the fourth aperture. Some embodiments may include a tunnel that provides direct access between the third fluid chamber340and an ambient environment, whereas other embodiments may utilize the second aperture332to provide ambient environment access to fluid in both the second fluid chamber330and the third fluid chamber340.

Some embodiments may include a fourth fluid chamber350disposed between the shell310and the flexible outer surface material360. The fourth fluid chamber350may retain the same damping fluid as the first fluid chamber320or a different fluid. The highly damped suction cup300may include a fourth (or fifth) aperture352formed in the flexible outer surface material360, where fluid from the fourth fluid chamber350can pass through the fourth aperture352. As fluid passes through the fourth aperture352, a damping effect may be created. The size of the fourth aperture352may be modified depending on the material of the shell310, the size of the highly damped suction cup300, the damping fluid used, and/or other factors.

The highly damped suction cup300may therefore include a first fluid chamber disposed on an outer portion of the suction cup, such as the second fluid chamber330, and a first opening, such as aperture332, where fluid from the first fluid chamber passes through the first opening. The highly damped suction cup300may include a second fluid chamber disposed on an inner portion of the suction cup, such as the first fluid chamber320, and a second opening, such as aperture322, formed in the shell, where fluid from the second fluid chamber passes through the second opening. The first fluid chamber and the second fluid chamber may therefore be configured to dampen movement of the suction cup. The highly damped suction cup300may include the flexible inner surface material370and the flexible outer surface material360, which may be configured to deform while grasping an item using the suction cup.

Relative to traditional suction technology, the highly damped suction cup300may provide improved performance in generating an initial seal on a large and/or heavy item, and may allow for increased acceleration and improved performance for maintaining a grasp on such items.

FIG.4is a schematic illustration of a highly damped suction cup400in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustration ofFIG.4is not to scale, and may not be illustrated to scale with respect to other figures. The components illustrated inFIG.4may be components of the suction cups discussed with respect toFIGS.1-3.

InFIG.4, the highly damped suction cup400may be different from that ofFIG.3in that instead of using fluid chambers to provide a damping effect and/or increase a damping ratio of the suction cup, the highly damped suction cup400may include more than one layer of material that forms the suction cup. The different layers of the suction cup may be formed of different materials. For example, an inner layer of the suction cup may be formed of an elastomeric material, and an outer layer of the suction cup may be formed of chloroprene or another material. In some instances the outer layer may be over-molded or co-molded. Some embodiments may include more than two layers. The suction cup may act as a unitized or integrated suction cup with a damping ratio of 0.3 to about 1.1, depending on the types of materials used, the structure of the suction cup, and so forth. The highly damped suction cup400may reduce fatigue and creep during acceleration.

The highly damped suction cup400may include a vacuum passage410that is formed by an inner layer420of a suction cup shell. The suction cup shell may include an outer layer430that is disposed over the inner layer420. The inner layer420may be formed of an elastomeric material, such as rubber. The outer layer430may be formed of a highly damped material, such as chloroprene, sorbothane, nitrile-butadiene rubber, silicon, neoprene, and the like. The highly damped suction cup400may reduce peak load at amplification, allowing for increased acceleration, improved grasp, and ability to grasp heavier items. In other embodiments, the inner layer420may be formed of the highly damped material, and the outer layer430may be formed of the elastomeric suction cup material. In addition, some embodiments may include more than two layers, with the highly damped material disposed in between two or more adjacent layers.

The highly damped suction cup400may be used with a picking assembly, such as part of an end of arm tool. The highly damped suction cup400may include an inner shell formed of an elastomeric material, such as the inner layer420, where the inner shell forms a first bellow and a second bellow. The highly damped suction cup400may include an outer shell formed of a highly damped material, such as the outer layer430, where the outer shell forms the first bellow and the second bellow. The outer shell may be configured to dampen movement of the suction cup. The highly damped suction cup400may have a damping ratio of between 0.3 and 1.1. The outer layer430may be over-molded on the inner layer420. Together, the outer shell and the inner shell may form a unitized shell. The outer shell may be configured to deform while grasping an item using the highly damped suction cup400.

FIG.5is a schematic illustration of graphs depicting various measured suction cup stiffness values along a Z-axis and an X-axis in accordance with one or more embodiments of the disclosure. Although example embodiments of the disclosure may be described in the context of various materials, it should be appreciated that the disclosure is more broadly applicable to additional types of materials.

A first graph500depicts measured stiffness values for suction cups along a Z-axis (e.g., a vertical axis depending on orientation of the suction cup). The first graph500provides measured stiffness data for both active and inactive vacuum suction. The first graph500illustrates values for various materials used to form suction cups. Specifically, measured data for Chloroprene (50 mm, 4 bellows), Poly7030 (50 mm, 4 bellows), FCM (50 mm, 4 bellows), NRB (50 mm, 4 bellows), and Silicone (50 mm, 4 bellows) is depicted. As illustrated, Poly7030 may have the highest stiffness both with and without vacuum.

A second graph510depicts measured stiffness values for suction cups along an X-axis (e.g., a lateral axis depending on orientation of the suction cup). The second graph510provides measured stiffness data for both active and inactive vacuum suction. The second graph510illustrates values for various materials used to form suction cups. Specifically, measured data for Chloroprene (50 mm, 4 bellows), Poly7030 (50 mm, 4 bellows), FCM (50 mm, 4 bellows), NRB (50 mm, 4 bellows), and Silicone (50 mm, 4 bellows) is depicted. As illustrated, Chloroprene may have the highest stiffness without vacuum, and may also have relatively high stiffness without vacuum.

During acceleration while grasping an item, lateral stiffness may assist in retaining a grasp on the item and reducing force amplification. Increased damping ratios may be used to increase lateral stiffness and reduce force amplification, thereby allowing for improved grasp under acceleration and resulting in increased maximum acceleration with reduced risk of time detachment.

FIGS.6A-6Bare schematic illustrations of suction cup deformation over time for different suction cup assemblies in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustrations ofFIGS.6A-6Bare not to scale, and may not be illustrated to scale with respect to other figures. The components illustrated inFIGS.6A-6Bmay be components of the picking assemblies and/or suction cup assemblies discussed with respect toFIGS.1-5.

InFIG.6A, two different suction cup assemblies are depicted. At a first instance600, a highly damped suction cup610as described herein is used to grasp a heavy item. At a second instance620, a typical suction cup630is used to grasp the same heavy item. Initial grasp on the item may be similar. However, as depicted inFIG.6B, at a third instance640, the highly damped suction cup may maintain a grasp650on the heavy item during acceleration, whereas at a fourth instance660, under the same acceleration the typical suction cup670may deform and lose grasp on the item. Depending on the grasp of other suction cups of the assembly, the deformation may result in detachment of the heavy item from the suction cup assembly. In contrast, the highly damped suction cups may retain a grasp on the heavy item.

FIG.7is a schematic illustration of a suction cup assembly grasping a large item700during high acceleration in accordance with one or more embodiments of the disclosure. Other embodiments may include additional or fewer components. The illustration ofFIG.7is not to scale, and may not be illustrated to scale with respect to other figures. Any of the configurations illustrated inFIG.7may be used with the picking assemblies discussed with respect toFIGS.1-6B.

InFIG.7, the suction cup assembly may include a number of suction cups, such as a first suction cup710, a second suction cup720, a third suction cup730, and so forth. Other embodiments may include a different number of suction cups. The suction cup assembly may retain a grasp on heavy items during acceleration that may not otherwise be possible due to damping and reduction of force amplification. Due to the damping effect of the suction cups, the third suction cup730, for instance, may retain a grasp on the item, whereas a typical suction cup may disengage.

The individual suction cups may include a shell formed of an elastomeric material. The shell may form a number of bellows, such as a first bellow and a second bellow. The suction cup may include a first fluid chamber disposed on an outer portion of the suction cup, and a first opening, where fluid from the first fluid chamber passes through the first opening. The suction cup may include a second fluid chamber disposed on an inner portion of the suction cup, and a second opening formed in the shell, where fluid from the second fluid chamber passes through the second opening. The first fluid chamber and the second fluid chamber together may be configured to dampen movement of the suction cup. The first opening and the second opening may be in fluid communication with an ambient environment. The suction cup may include a flexible outer surface material extending between the first bellow and the second bellow, and a flexible inner surface material that forms a vacuum flow passage along a central axis of the suction cup. In some embodiments, the first opening is formed in the flexible outer surface material.

Some embodiments of the suction cup may include an optional third fluid chamber disposed on the inner portion of the suction cup, and a third opening formed in the shell, where fluid from the third fluid chamber passes through the third opening. Fluid from the third fluid chamber may also pass through the third opening into the first fluid chamber.

The flexible inner surface material and the flexible outer surface material may be configured to deform while grasping an item using the suction cup. The flexible inner surface material and the flexible outer surface material may be formed of the elastomeric material. In some embodiments, the elastomeric material may be, or may include, chloroprene. In other embodiments, the elastomeric material may be at least one of: chloroprene, sorbothane, nitrile-butadiene rubber, silicon, or neoprene. The flexible inner surface material and the flexible outer surface material may optionally be integrated with the shell of the suction cup. The suction cup has a damping ratio of between 0.3 and 1.1.

Illustrative Computer Architecture

FIG.8is a schematic block diagram of one or more illustrative controller(s) or computer system(s)800in accordance with one or more example embodiments of the disclosure. The computer system(s)800may include any suitable computing device including, but not limited to, a server system, a voice interaction device, a mobile device such as a smartphone, a tablet, an e-reader, a wearable device, or the like; a desktop computer; a laptop computer; a content streaming device; or the like. The computer system(s)800may correspond to an illustrative device configuration for the controller(s) discussed with respect to any one ofFIGS.1-7. For example, the computer system(s)800may control one or more aspects of the robotic picking assemblies with highly damped suction cups described inFIGS.1-7, such as determining which suction cup assemblies to grasp an item with, control flow rates, determine which suction cup assemblies are to be provided positive or negative air pressure, determine where a robotic arm or other device is to position a picking assembly, determine acceleration values at which to move suction cup assemblies, and so forth.

The computer system(s)800may be configured to communicate with one or more servers, user devices, cameras, or the like. The computer system(s)800may be configured to identify items, retrieve items, move items, and so forth.

In an illustrative configuration, the computer system(s)800may include one or more processors (processor(s))802, one or more memory devices804(also referred to herein as memory804), one or more input/output (I/O) interface(s)806, one or more network interface(s)808, one or more sensor(s) or sensor interface(s)810, one or more transceiver(s)812, one or more optional display(s)814, one or more optional microphone(s)816, and data storage820. The computer system(s)800may further include one or more bus(es)818that functionally couple various components of the computer system(s)800. The computer system(s)800may further include one or more antenna(s)830that may include, without limitation, a cellular antenna for transmitting or receiving signals to/from a cellular network infrastructure, an antenna for transmitting or receiving Wi-Fi signals to/from an access point (AP), a Global Navigation Satellite System (GNSS) antenna for receiving GNSS signals from a GNSS satellite, a Bluetooth antenna for transmitting or receiving Bluetooth signals, a Near Field Communication (NFC) antenna for transmitting or receiving NFC signals, and so forth. These various components will be described in more detail hereinafter.

The data storage820may include removable storage and/or non-removable storage including, but not limited to, magnetic storage, optical disk storage, and/or tape storage. The data storage820may provide non-volatile storage of computer-executable instructions and other data. The memory804and the data storage820, removable and/or non-removable, are examples of computer-readable storage media (CRSM) as that term is used herein.

The data storage820may store computer-executable code, instructions, or the like that may be loadable into the memory804and executable by the processor(s)802to cause the processor(s)802to perform or initiate various operations. The data storage820may additionally store data that may be copied to the memory804for use by the processor(s)802during the execution of the computer-executable instructions. Moreover, output data generated as a result of execution of the computer-executable instructions by the processor(s)802may be stored initially in the memory804, and may ultimately be copied to the data storage820for non-volatile storage.

More specifically, the data storage820may store one or more operating systems (O/S)822; one or more database management systems (DBMS)824; and one or more program module(s), applications, engines, computer-executable code, scripts, or the like. Some or all of these module(s) may be sub-module(s). Any of the components depicted as being stored in the data storage820may include any combination of software, firmware, and/or hardware. The software and/or firmware may include computer-executable code, instructions, or the like that may be loaded into the memory804for execution by one or more of the processor(s)802. Any of the components depicted as being stored in the data storage820may support functionality described in reference to corresponding components named earlier in this disclosure.

The data storage820may further store various types of data utilized by the components of the computer system(s)800. Any data stored in the data storage820may be loaded into the memory804for use by the processor(s)802in executing computer-executable code. In addition, any data depicted as being stored in the data storage820may potentially be stored in one or more datastore(s) and may be accessed via the DBMS824and loaded in the memory804for use by the processor(s)802in executing computer-executable code. The datastore(s) may include, but are not limited to, databases (e.g., relational, object-oriented, etc.), file systems, flat files, distributed datastores in which data is stored on more than one node of a computer network, peer-to-peer network datastores, or the like.

Referring now to other illustrative components depicted as being stored in the data storage820, the O/S822may be loaded from the data storage820into the memory804and may provide an interface between other application software executing on the computer system(s)800and the hardware resources of the computer system(s)800. More specifically, the O/S822may include a set of computer-executable instructions for managing the hardware resources of the computer system(s)800and for providing common services to other application programs (e.g., managing memory allocation among various application programs). In certain example embodiments, the O/S822may control execution of the other program module(s). The O/S822may include any operating system now known or which may be developed in the future including, but not limited to, any server operating system, any mainframe operating system, or any other proprietary or non-proprietary operating system.

The DBMS824may be loaded into the memory804and may support functionality for accessing, retrieving, storing, and/or manipulating data stored in the memory804and/or data stored in the data storage820. The DBMS824may use any of a variety of database models (e.g., relational model, object model, etc.) and may support any of a variety of query languages. The DBMS824may access data represented in one or more data schemas and stored in any suitable data repository including, but not limited to, databases (e.g., relational, object-oriented, etc.), file systems, flat files, distributed datastores in which data is stored on more than one node of a computer network, peer-to-peer network datastores, or the like. In those example embodiments in which the computer system(s)800is a mobile device, the DBMS824may be any suitable lightweight DBMS optimized for performance on a mobile device.

Referring now to other illustrative components of the computer system(s)800, the input/output (I/O) interface(s)806may facilitate the receipt of input information by the computer system(s)800from one or more I/O devices as well as the output of information from the computer system(s)800to the one or more I/O devices. The I/O devices may include any of a variety of components such as a display or display screen having a touch surface or touchscreen; an audio output device for producing sound, such as a speaker; an audio capture device, such as a microphone; an image and/or video capture device, such as a camera; a haptic unit; and so forth. Any of these components may be integrated into the computer system(s)800or may be separate. The I/O devices may further include, for example, any number of peripheral devices such as data storage devices, printing devices, and so forth.

The computer system(s)800may further include one or more network interface(s)808via which the computer system(s)800may communicate with any of a variety of other systems, platforms, networks, devices, and so forth. The network interface(s)808may enable communication, for example, with one or more wireless routers, one or more host servers, one or more web servers, and the like via one or more networks.

The antenna(s)830may include any suitable type of antenna depending, for example, on the communications protocols used to transmit or receive signals via the antenna(s)830. Non-limiting examples of suitable antennas may include directional antennas, non-directional antennas, dipole antennas, folded dipole antennas, patch antennas, multiple-input multiple-output (MIMO) antennas, or the like. The antenna(s)830may be communicatively coupled to one or more transceivers812or radio components to which or from which signals may be transmitted or received.

The antenna(s)830may additionally, or alternatively, include a Wi-Fi antenna configured to transmit or receive signals in accordance with established standards and protocols, such as the IEEE 802.11 family of standards, including via 2.4 GHz channels (e.g., 802.11b, 802.11g, 802.11n), 5 GHz channels (e.g., 802.11n, 802.11ac), or 60 GHz channels (e.g., 802.11 ad). In alternative example embodiments, the antenna(s)830may be configured to transmit or receive radio frequency signals within any suitable frequency range forming part of the unlicensed portion of the radio spectrum.

The transceiver(s)812may include any suitable radio component(s) for—in cooperation with the antenna(s)830—transmitting or receiving radio frequency (RF) signals in the bandwidth and/or channels corresponding to the communications protocols utilized by the computer system(s)800to communicate with other devices. The transceiver(s)812may include hardware, software, and/or firmware for modulating, transmitting, or receiving—potentially in cooperation with any of antenna(s)830—communications signals according to any of the communications protocols discussed above including, but not limited to, one or more Wi-Fi and/or Wi-Fi direct protocols, as standardized by the IEEE 802.11 standards, one or more non-Wi-Fi protocols, or one or more cellular communications protocols or standards. The transceiver(s)812may further include hardware, firmware, or software for receiving GNSS signals. The transceiver(s)812may include any known receiver and baseband suitable for communicating via the communications protocols utilized by the computer system(s)800. The transceiver(s)812may further include a low noise amplifier (LNA), additional signal amplifiers, an analog-to-digital (A/D) converter, one or more buffers, a digital baseband, or the like.

The optional display(s)814may be configured to output light and/or render content. The optional speaker(s)/microphone(s)816may be any device configured to receive analog sound input or voice data.