Patent Publication Number: US-11649848-B1

Title: Friction vacuum suction cup

Description:
BACKGROUND 
     Inventory systems, such as those in warehouses, supply chain distribution centers, airport luggage systems, and custom-order manufacturing facilities, face significant challenges in storing inventory items. As the amount of inventory moved through the inventory systems increases, inefficient movement of the inventory can result in lower throughput, unacceptably long response times, an ever-increasing backlog of unfinished tasks, and, in general, poor system performance. Additionally, the inventory can include containers having different shapes and sizes that can be difficult to move using traditional manipulation devices. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various embodiments in accordance with the present disclosure will be described with reference to the drawings, in which: 
         FIG.  1    illustrates a container manipulation system for moving containers, according to various embodiments; 
         FIGS.  2 A and  2 B  illustrate example containers for use with the container manipulation system of  FIG.  1   , according to various embodiments; 
         FIG.  3    is a perspective view of an example suction cup for use with the container manipulation system of  FIG.  1   , according to various embodiments; 
         FIGS.  4 A and  4 B  are front views of the example suction cup of  FIG.  3   , according to various embodiments; 
         FIGS.  5  and  6    are cross-sectional views of the suction cup of  FIG.  3   , according to various embodiments; 
         FIG.  7    is a perspective view of a stem for use with the suction cup of  FIG.  3   , according to various embodiments; 
         FIG.  8    is a perspective view of an engagement plate for use with the suction cup of  FIG.  3   , according to various embodiments; 
         FIG.  9    shows a front view of the engagement plate of  FIG.  8   , according to various embodiments; 
         FIG.  10    shows a front view of another engagement plate for use with the suction cup of  FIG.  3   , according to various embodiments; 
         FIG.  11    shows the front view of another engagement plate for use with the suction cup of  FIG.  3   , according to various embodiments; and 
         FIGS.  12  and  13    show cross-sectional views of the suction cup of  FIG.  3    and a container, according to various embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description, various embodiments will be described. For purposes of explanation, specific configurations and details are set forth in order to provide a thorough understanding of the embodiments. However, it will also be apparent to one skilled in the art that the embodiments may be practiced without the specific details. Furthermore, well-known features may be omitted or simplified in order not to obscure the embodiment being described. 
     Examples herein are directed to, among other things, systems and techniques relating to a container manipulation system for moving containers. The techniques described herein may be implemented by any suitable container management system, but particular examples are described that can include a container manipulation device and a vacuum suction cup. The container manipulation device can position the suction cup for engagement with a container. The vacuum suction cup can have an elliptical shape (e.g., an elliptical cross-section with a major axis and a minor axis). The elliptical shape can allow the vacuum suction cup to attach to a rectangular area of the container. For example, the container can have an attachment area with a smaller height than width. 
     The vacuum suction cup can include a skirt positioned around the periphery of an engagement plate. The skirt can include an edge (e.g., a lip) that can be positioned against the side of the container. The engagement plate can include one or more openings and an engagement surface. The engagement surface can be and/or include a friction material (e.g., a high-friction material). The openings can extend some or all of the way through the engagement plate (e.g., from the engagement surface to an opposing side of the engagement plate). The openings can be arranged, for example, along the major axis of the ellipse. The one or more openings can allow air to flow from between the engagement plate and the container when the skirt is positioned against the container. The flowing of the air from between the engagement plate and the container can generate suction. The suction can cause the skirt to compress and/or the engagement plate to engage with the container. 
     Turning now to a particular example, in this example the vacuum suction cup can include a skirt, an engagement plate, and a stem. The engagement plate can have an elliptical cross-section (e.g., an elliptical shape with a major axis and a minor axis). The engagement plate can include one or more apertures (e.g., conduits extending some or all of the way between two opposing surfaces of the engagement plate). The apertures can be connected (e.g., by passages) such that air can flow between the apertures. The skirt can be connected to a periphery of the engagement plate (e.g., such that the skirt has an elliptical shape). The skirt can include a lip that can engage with a side of the container. The stem can be positioned in one of the apertures. The stem can be coupled with the engagement plate (e.g., at a first end of the stem) such that the engagement plate can pivot relative to the stem. A second end of the stem can be coupled with a vacuum source. The one or more apertures can flow air from between the engagement plate and the side of the container when the skirt is engaged with the side of the container. The flowing of the air can generate suction between the engagement plate and the side of the container. The suction can cause one side of the engagement plate to engage with the side of the container. 
     Turning now to another example, in this example the vacuum suction cup can include an engagement plate and a skirt. The engagement plate can include one or more apertures and an engagement surface. The engagement surface can engage with a side of a container. The engagement surface can include friction material (e.g., high-friction material) and channels. The friction material can have a higher coefficient of friction than the coefficient of friction between the engagement surface and the container. The higher coefficient of friction can increase the lifting force of the vacuum suction cup. For example, friction material can increase the amount of shear force that can be resisted before the container starts to slip (e.g., before the container starts to move relative to the vacuum suction cup). 
     The channels can extend from one or more of the apertures to a periphery of the engagement surface. The skirt can be coupled with the periphery of the engagement plate and include a lip. The lip can engage with the surface of the container. When the lip is engaged with the surface of the container, air can flow from the periphery of the engagement surface through the aperture via the channels (e.g., can flow through the channels and through the aperture). The flowing air can cause suction between the container and the engagement surface. The suction can cause the skirt to compress and/or the engagement surface to engage with the container. 
     Turning now to the figures,  FIG.  1    illustrates a container manipulation system  100  for moving containers  102 , according to at least one example. As described herein, the manipulation system  100  can include a suction cup assembly  104  (e.g., a vacuum suction cup assembly) attached to a container manipulation device  106 . The suction cup assembly  104  can include an actuator  108  (e.g., a linear actuator) and a suction cup  110  (e.g., a vacuum suction cup). The container manipulation device  106  can position the suction cup assembly  104  for engaging with the containers  102 . For example, the container manipulation device  106  can align the suction cup  110  with an engagement area of a container  102 . In various embodiments, the actuator  108  can extend (e.g., from the container manipulation device  106 ) to engage the suction cup  110  with the container  102 . 
     When the suction cup  110  is engaged with the container  102 , the air between the suction cup  110  and the container  102  can be removed, for example, by a pump  112 . The removal of the air from between the suction cup  110  and the container  102  can create a vacuum hold and/or a pressure differential, for example, by lowering the air pressure between the suction cup  110  and the container  102  below the pressure outside of the suction cup  110  (e.g., below the atmospheric pressure). The vacuum hold can be created by removing some or all of the air from between the suction cup and the container (e.g., forming a vacuum between the suction cup and the container). Vacuum referenced herein refers to both a partial vacuum (e.g., where the air pressure is reduced by less than 100%) and a perfect vacuum (e.g., where the air pressure is reduced by 100%). The vacuum hold between the suction cup  110  and the container  102  can generate a holding force. The holding force can be up to 100 pounds (e.g., the holding force can allow the suction cup  110  to pick up a container  102  (e.g., the container  102  and any items positioned within the container) weighing up to 100 pounds. The holding force can allow the container manipulation device  106  and/or the actuator  108  to move the container  102 . For example, the holding force can allow the actuator  108  to retract and pull the container  102  from a container location (e.g., a shelf and/or a slot). The container  102  can be moved to another location (e.g., to another location in a warehouse environment). 
     The container manipulation device  106  can be or include a robotic arm moveable along multiple axes. For example, the robotic arm can be moveable along six-axes, although any other suitable number greater than or less than six could alternatively be utilized. The container manipulation device  106  can include one or more attachment points and/or connectors. For example, the container manipulation device  106  can include an attachment point  114  for attaching the suction cup assembly  104  (e.g., the actuator  108  and/or the suction cup  110 ). 
     In some embodiments, the container manipulation device  106  can be positioned at a stationary point in a warehouse environment. However, the container manipulation device  106  may be moveable around the warehouse environment, either under its own power and/or under the power of another device. 
     In various embodiments, the actuator  108  can be or include a linear actuator. The actuator  108  can be connected to the container manipulation device  106  (e.g., at the attachment point). The actuator  108  can move the suction cup assembly  104  between a stage position and an engaged position. In the engaged position, the actuator  108  can extend the suction cup assembly  104  away from the container manipulation device  106  to engage with the container  102 . 
     In some embodiments, the pump  112  can be positioned on the container manipulation device  106 . For example, the pump  112  can be positioned on the container manipulation device  106  and attached to the suction cup  110  via a hose. However, the pump  112  can be separate from the container manipulation device  106 . In further embodiments, the pump  112  can be a component of the container manipulation device  106  (e.g., pump  112  can be part of the container manipulation device  106  and used with one or more of the components of the container manipulation device  106 ). For example, the suction cup  110  can be connected to the pump  112  via a connector (e.g., a connector positioned at the attachment point of the container manipulation device  106 ). The pump  112  can be or include a vacuum, a vacuum pump, a vacuum ejector, a blower, a pump, and/or any suitable device for moving air. 
     Turning to  FIGS.  2 A and  2 B , example containers  102  for use with the container manipulation system  100  of  FIG.  1    are shown. The containers  102  can be or include a container or a bin with an interior area for containing one or more items. The containers  102  may include rigid or semi-rigid material, for example, plastic, cardboard, paper, or any suitable material for containing items. In various embodiments, the containers  102  may be items, e.g., such that the items are moved by the suction cup assembly  104  without first being positioned in a container  102 . In further embodiments, the containers  102  can be or include a plate (e.g., a flat plate). The plate can be or include a flat or semi-flat surface where the suction cup  110  can attach. 
     In various embodiments, the containers  102  can include an engagement area  202 . The engagement area  202  can be or include a surface where the suction cup  110  can engage with the container  102 . For example, the engagement area  202  can include a portion of the container free of seams, protrusions, gaps, and/or other features that can prevent the suction cup  110  from forming a vacuum hold between the container  102  and the suction cup  110 . The containers  102  can additionally or alternatively include handles, hooks, or other features and/or components for engaging with the suction cup assembly  104 . 
     As shown in  FIG.  2 A , the engagement area  202  can be a non-square, rectangular area (e.g., an area having a length and height that are different sizes). For example, the engagement area  202  can have a length  204  that is greater than a height  206 . The engagement area  202  can have a length  204  between 75 mm and 150 mm and a height  206  between 50 mm and 100 mm in some embodiments. For example, the engagement area  202  can have a length  204  of 105 mm and a height  206  of 70 mm. The dimensions of the engagement area  202  (e.g., the length  204  and/or the height  206 ) can limit the size of the suction cup  110  that can be used. For example, if the suction cup  110  has a circular cross-section, the diameter of the suction cup  110  has to be smaller than the smaller dimension of the engagement area  202  (e.g., so that the suction cup  110  can attach to the engagement area  202  without extending outside of the engagement area  202 ). A smaller suction cup  110  can have a smaller holding force than a larger suction cup  110 . 
     As described herein, for example in reference to  FIG.  3   , the suction cup  110  can have an elliptical cross-section. The elliptical cross-section can maximize the area of the suction cup  110  that can fit in the non-square, rectangular engagement area  202 . The larger area of the suction cup  110  can have a larger holding force compared with a round suction cup that can fit in the same engagement area  202 . For example, the elliptical cross-section can include a major axis and a minor axis. The major axis can be similar to the length  204  of the engagement area  202  (e.g., the same as or slightly smaller than) and the minor axis can be similar to the height  206  of the engagement area  202  (e.g., the same as or slightly smaller than). 
     As an illustrative example, the engagement area  202  can have a length  204  of 105 mm and a height of 70 mm. The suction cup  110  with an elliptical cross-section can have a major axis of 105 mm (e.g., equal to the larger dimension) and a minor axis of 70 mm (e.g., equal to the smaller dimension) which results in an area of 23090.71 square mm. The suction cup  110  with a circular cross-section can have a diameter of 70 mm (e.g., equal to the smaller dimension) which results in an area of 3848.45 square mm. The larger area results in a larger holding force and can allow the suction cup assembly  104  to pick up heavier containers  102  (e.g., heavier containers  102  and/or containers  102  filled with heavier and/or more items). 
       FIG.  2 B  shows another container  102  with a different sized engagement area  202 . For example, the engagement area  202  of the container  102  of  FIG.  2 B  can have a larger height  206  and a smaller length  204 . The size of the suction cup  110  may be dependent on the dimensions (e.g., the height  206  and the length  204 ) of both of the engagement areas  202  of  FIGS.  2 A and  2 B . For example, the suction cup  110  can have a major axis that is less than or equal to the length  204  of the engagement area  202  of  FIG.  2 B  and a minor axis that is less than or equal to the height  206  of the engagement area  202  of  FIG.  2 A . The suction cup  110  having dimensions that can fit into the smallest dimensions of each of the containers  102  of  FIGS.  2 A and  2 B  can allow the suction cup  110  to engage with both containers  102  without having to switch the suction cup  110 . 
     Turning to  FIG.  3   , a perspective view of an example suction cup  110  for use with the container manipulation system  100  is shown. The example suction cup  110  can have an elliptical cross-section with a major axis that is larger than a minor axis. As shown in  FIG.  4 B , the major axis can be line  401  and the minor axis can be line  403 . The example suction cup  110  can include a skirt  302  positioned around a periphery of an engagement plate  304 . The engagement plate  304  can include an engagement surface  306 . The engagement surface  306  can include channels  308  and one or more apertures  310 . The channels  308  can extend from one or more of the apertures  310  to a periphery of the engagement surface  306 . The apertures  310  can include openings in the engagement surface  306  that extend some or all of the way through the engagement plate  304 . 
     In various embodiments, covers  312  can be positioned over one or more of the apertures  310 . The covers  312  can be or include filters that prevent debris from going through the apertures  310 . A back plate  314  can be connected to the engagement plate  304 . For example, the back plate  314  can be connected to a side of the engagement plate opposite the engagement surface  306 . A stem  316  can be connected to the engagement plate  304 . As discussed herein, the stem  316  can include a conduit that aligns with one or more of the apertures  310 . The stem  316  can be connected to the pump  112  to pull air through one or more of the apertures  310 . For example, air can flow across the engagement surface  306  (e.g., through the channels  308 ), into one or more of the apertures  310 , and through the stem  316 . 
     The skirt  302  can be used to create the vacuum between the engagement plate  304  and the container  102 . The skirt  302  can be part of the engagement plate  304  (e.g., a periphery of the engagement plate  304 ). However, the skirt  302  can be or include a separate component (e.g., one or more bellows) that can engage with the engagement plate  304 . In some embodiments, the skirt  302  can be or include a lip  318  that can engage with the container  102 . When the skirt  302  (e.g., the lip  318 ) is engaged with the container  102 , air can be pulled from between the engagement plate  304  (e.g., the engagement surface  306 ) and the container  102  (e.g., through one or more of the apertures  310  and the stem  316 ) to generate the vacuum hold. The air can be pulled from between the engagement plate  304  and the container  102  using the pump  112 . Pulling the air from between the engagement plate  304  and the container  102  can generate the vacuum hold (e.g., generate a vacuum and/or seal the skirt  302  against the container  102 ). The vacuum hold between the suction cup  110  and the container  102  can have a lower air pressure than the air pressure outside the suction cup  110  (e.g., lower than the atmospheric pressure). The lower air pressure in the sealed area can cause the skirt  302  to collapse. The collapsing skirt  302  can allow the engagement surface  306  to engage with the container  102 . The skirt  302  can be or include rubber, nitro rubber, silicone, silicon, and/or any suitable compressible material. In various embodiments, the skirt  302  can be or include one or more bellows. 
     In various embodiments, the channels  308  of the engagement surface  306  can allow air to be pulled from the periphery of the engagement surface  306 . For example, the channels  308  can allow air to be pulled from the periphery of the engagement surface  306  when the engagement surface  306  is positioned in contact against the container  102 . 
     In some embodiments, the engagement surface  306  and/or the covers  312  can be or include friction material (e.g., high friction material). The friction material can increase the coefficient of friction between the engagement surface  306  and the container  102 . For example, the coefficient of friction between the engagement surface  306  and the container  102  when the engagement surface  306  includes the friction material can be higher than the coefficient of friction between the engagement surface  306  and the container  102  when the engagement surface  306  does not include the friction material. The friction material can increase the amount of shear force the suction cup  110  can resist (e.g., the amount of downward force generated by the weight of the container  102 ). For example, without the friction material the suction cup  110  may be able to withstand up to 45 pounds of shear force. With the friction material (e.g., the friction material engaged with the container  102 ) the suction cup  110  may be able to withstand up to 100 pounds of shear force. The increase in shear force can be related to the composition of the friction material and/or the coefficient of friction between the friction material and the container  102 . For example, a higher coefficient of friction between the friction material and the container  102  can increase the amount of shear force the suction cup  110  can resist (e.g. the amount of weight the suction cup  110  can lift). 
     The friction material can positioned along some or all of the engagement surface  306 . For example, the friction material can be positioned on the non-channel portions of the engagement surface  306 . However, the friction material can be positioned in the channels  208 . In some embodiments, the friction material can be arranged in a pattern on the engagement surface  306 . For example, areas of friction material can be positioned on the engagement surface  306 . The friction material can be or include plastic, phenolic material, bakelite, Polyoxybenzylmethylenglycolanhydride, high-grit material (e.g., sandpaper), ceramics, copper, steel, iron, rubber, cellulose, aramid, chopped glass, brass, silicon, silicone, and/or any material suitable to increase the coefficient of friction between the engagement surface  306  and the container  102 . 
     In various embodiments, the engagement plate  304  and the engagement surface  306  can be a single piece of material. For example, the engagement plate  304  can be a solid body where one face is the engagement surface  306 . However, the engagement plate  304  and the engagement surface  306  can be two separate pieces. For example, the engagement surface  306  can attach to the engagement plate  304 . The engagement plate  304  and/or the engagement surface  306  can be or include plastic, metals including aluminum, steel, bronze, copper, rubber, silicon, silicone, carbon fiber, and/or any suitably strong material. 
     In some embodiments, the engagement plate  304 , the engagement surface  306 , and/or the covers  312  can include the friction material. For example, the engagement plate  304  and the engagement surface  306  can be machined from a solid piece of the friction material. However, the friction material may be formed as a layer of material that is positioned on one or more of the engagement plate  304 , the engagement surface  306 , and/or the covers  312 . For example, the engagement surface  306  and/or the covers  312  can be coated and/or layered with the friction material. 
     Turning to  FIGS.  4 A through  8   , another example suction cup  110  and associated components are shown.  FIGS.  4 A and  4 B  show a front view of the suction cup  110  with a cover  312  of a primary aperture  310   a  removed for ease of viewing.  FIG.  5    is a cross-section of the suction cup  110  taken along line AA′ in  FIG.  4 A , and  FIG.  6    is a cross-section of the suction cup  110  taken along line BB′ in  FIG.  4 A .  FIG.  7    shows an example stem  316 , and  FIG.  8    shows an example engagement plate  304 . 
     As shown in  FIG.  4 B , the suction cup  110  can have an elliptical cross-section. For example, the skirt  302  can have an elliptical shape with a major axis  401  (e.g., a transverse diameter) and a minor axis  403  (e.g., a conjugate diameter). The elliptical shape can be curved such that the sum of the distance between an arbitrary point on the ellipse and the foci of the ellipse (e.g., points  405  and  407 ) is equal to the major axis. The elliptical shape of the skirt  302  can allow the suction cup  110  to attach to containers  102  with an uneven and/or or rough surfaces. A suction cup  110  with a skirt  302  that has a straight section (e.g., a rectangular shape and/or an oval shape) may break the vacuum when the straight section engages with the uneven and/or rough section of the container  102 . For example, when the straight section of the skirt  302  engages with the rough and/or uneven surface of the container  102 , the difference in height of the rough and/or uneven surface can prevent most or all of the straight section from forming a seal (e.g., a vacuum). However, a skirt  302  with an elliptical shape has a continuous curve such that attaching to the uneven and/or the rough surface will not prevent the suction cup  110  from forming a vacuum (e.g., because only a small portion of the skirt  302  the is positioned on two different heights may be prevented from forming the seal (e.g., the vacuum)). 
     The suction cup  110  can include fasteners  602 . The fasteners  602  can attach various components of the suction cup  110 . For example, the fasteners  602  can attach the back plate  314  to the engagement plate  304 . The fasteners  602  can additionally or alternatively connect the skirt  302  to the engagement plate  304 . As shown in  FIG.  8   , the fasteners  602  can be positioned in slots  802 . The slots  802  can include features to engage with the fasteners  602 . For example, the slots  802  can include threading. 
     As shown in  FIGS.  4 A through  8   , the engagement plate  304  can include a proximal side  305  (e.g., a proximal surface) and a distal side  307  (e.g., a distal surface). The proximal side  305  can be or include the engagement surface  306 . The engagement plate  304  can include multiple apertures  310 . For example, the engagement plate  304  can include a primary aperture  310   a  (e.g., a primary aperture) and one or more secondary apertures  310   b  and  310   c . As shown in the FIGS. the engagement plate  304  include two secondary apertures (e.g., secondary apertures  310   b  and  310   c ), however, the engagement plate  304  can include no secondary apertures, one secondary aperture, or more than two secondary apertures. One or more of the apertures  310  can extend some or all of the way through the engagement plate  304 . For example, the primary aperture  310   a  can extend from the proximal side  305  (e.g., the engagement surface  306 ) of the engagement plate  304  to a distal side  307  of the engagement plate  304 . Additionally or alternatively, the secondary apertures  310   b  and/or  310   c  can extend a portion of the distance between the proximal side  305  and the distal side  307 . However, the secondary apertures  310   b  and/or  310   c  can extend the entire way from the proximal side  305  to the distal side  307 . 
     The stem  316  can include a conduit  402 . The conduit  402  can extend through the stem  316  (e.g., from an attachment end  404  to a pivoting end  406 ). The conduit  402  of the stem  316  can be aligned with the primary aperture  310   a  of the engagement plate  304  to facilitate the flowing of air from the engagement surface  306 . For example, the conduit  402  can flow air from between the engagement surface  306  and the container  102  when the skirt  302  is positioned against the container  102 . The attachment end  404  can be attached to the pump  112 , for example, via a hose. For example, the attachment end  404  can include a flared portion that can receive and secure a hose. The pivoting end  406  of the stem  316  can be positioned within the engagement plate  304  (e.g., within an aperture  310 ). The pivoting end  406  can be shaped to allow for pivoting of the engagement plate  304  relative to the stem  316 . For example, the pivoting end  406  can be ball-shaped or otherwise at least partially rounded. 
     The engagement plate  304  can pivot about a pitch and/or a yaw axis. The pivoting of the engagement plate  304  can allow the suction cup  110  to engage with angled surfaces (e.g., angled surfaces of the container  102 ). For example, the container  102  may include surfaces that extend upwardly and outwardly to facilitate nesting with other containers  102 . In some embodiments, a gasket  408  can be positioned between the pivoting end  406  and the aperture  310 . The gasket  408  can prevent air from escaping (e.g., can prevent air from escaping through a gap between the pivoting end  406  and the aperture  310 ). 
     In various embodiments, the stem  316  can include one or more openings  410  that can receive a pin  412 . The pin  412  can allow pivoting of the engagement plate  304  when the pin  410  is positioned in the opening (e.g., pivoting about the yaw, roll, and/or pitch axis). For example, the pin  412  can allow pivoting of the engagement plate  304  up to eight degrees. The pin  412  can additionally or alternatively prevent rotation of the engagement plate  304  relative to the stem  316  (e.g., prevent rotation of the engagement plate  304  about a roll axis). For example, when the pin  412  is positioned in the opening  410 , the engagement plate  304  can be prevented from rotating about a longitudinal axis of the stem  316  (e.g., about the roll axis of the stem  316 ). However, removing the pin  412  from the opening  410  can allow rotation of the stem  316  in the aperture  310 . As discussed herein, the rotation of the stem  316  can move the holes  414  into and/or out of alignment with the passages  416 . Rotating the stem  316  can include removing the pin  412  from a first opening  410 , rotating the pin  412 , and inserting the pin  412  into another opening  410 . 
     In some embodiments, the pin  412  can additionally or alternatively prevent pivoting of the engagement plate  304  about the pitch and/or the yaw axis. For example, the pin  412  can prevent rotation of the engagement plate  304  about the yaw axis. However, the pin  412  can prevent rotation of the engagement plate  304  about the pitch axis. In various embodiments, the stem  316  can be rotated and the pin  412  inserted into a different opening  410  to change the axis that the engagement plate  304  is prevent from rotating about. For example, the pin  412  can prevent the engagement plate  304  from rotating about the yaw axis when the pin  412  is positioned in a first opening  410  and can prevent the engagement plate  304  from rotating about the pitch axis when the pin  412  is in a second opening  410   
     The stem  316  can include holes  414  (e.g., as shown in  FIG.  7   ). The holes  414  can align with passages  416  (e.g., as shown in  FIG.  8   ) in the engagement plate  304 . The passages  416  can extend between the primary aperture  310   a  and the secondary apertures  310   b  and  310   c . The passages  416  can allow air to flow between the apertures  310  (e.g., between the primary aperture  310   a  and the secondary apertures  310   b  and  310   c ) and/or between the secondary apertures  310   b  and  310   c  and the holes  414  of the stem  316 . The stem  316  can be moveable (e.g., rotatable) between an open configuration and a closed configuration. In the open configuration, the holes  414  can be aligned with the passages  416  (e.g., as shown in  FIG.  6   ) and air can flow through the secondary apertures  310   b  and  310   c . The stem  316  can be rotated from the open configuration to the closed configuration. For example, the pin  412  can be removed from a first opening  410 , the stem  316  can be rotated (e.g., in the primary aperture  310   a ), and the pin  412  can be inserted in a second opening  410 . In the closed configuration, the holes  414  can be out of alignment with the passages  416  (e.g., as shown in  FIG.  5   ). When the holes  414  are no longer aligned (e.g., when the stem  316  is in the closed configuration) air may be prevented from flowing through the secondary apertures  310   b  and  310   c.    
     The covers  312  can be supported by supports  418  positioned in the apertures  310  (e.g., secondary apertures  310   b  and  310   c ). The supports  418  can be positioned in the apertures  310  when the holes  414  are no longer aligned with the passages  416  (e.g., when no air is flowing through the secondary apertures  310   b  and  310   c ). The supports  418  can provide support for the covers  312 , for example, when the covers  312  engage with the containers  102 . The supports  418  can be positioned in the apertures  310  such that the covers  312  extend beyond the plane of the engagement surface  306 . For example, the covers  312  can extend beyond the plane of the engagement surface  306  such that when the covers  312  compress, the engagement surface  306  can engage with the containers  102 . 
     Turning to  FIGS.  9  through  11   , front views of example engagement plates  304  are shown.  FIGS.  9  and  10    show engagement plates  304  having a primary aperture  310   a  and two secondary apertures  310   b  and  310   c . The engagement plates  304  include an engagement surface  306  and channels  308 . As shown in  FIG.  9   , the channels  308  can extend from the primary aperture  310   a  to the periphery of the engagement surface  306  (e.g., a periphery of the engagement plate  304 ). In various embodiments, a channel  308  can extend around the periphery of the engagement surface  306  and connect with the channels  308  extending from the primary aperture  310   a . Air can flow through the channels  308  from the periphery of the engagement surface  306  to the primary opening  310   a . The air flowing through the channels  308  can allow the suction cup  110  to maintain a vacuum hold when the engagement surface  306  is positioned against the container  102  (e.g., when vacuum causes the engagement surface  306  to engage the container  102 ). 
     In various embodiments, as shown in  FIG.  10   , channels  308  can extend between the primary aperture  310   a  and the secondary apertures  310   b  and  310   c  and/or between the secondary apertures  310   b  and  310   c  and the periphery of the engagement surface  306 . The channels  308  can allow air to flow through the secondary apertures  310   b  and  310   c  when the engagement surface  306  is positioned against the container  102 . For example, the air can flow from the primary aperture  310   a  to the secondary apertures  310   b  and  310   c  and/or from the periphery of the engagement surface  306  to the secondary apertures  310   b  and  310   c.    
     In various embodiments, as shown in  FIG.  11   , the engagement surface  306  of the engagement plate  304  can include areas of friction material  1102 . The friction material  1102  can be arranged in a pattern on the engagement surface  306 . For example, the friction material  1102  can be arranged in a circular pattern around an aperture  310 . In some embodiments, the engagement surface  306  can additionally or alternatively include friction material. For example, the friction material can extend across some or all of the engagement surface  306 . The friction material can be positioned on some or all of the engagement surface  306  regardless of the shape (e.g., the cross-sectional shape) of the engagement plate  304  and/or engagement surface  306 . For example, the friction material can be positioned on an elliptical cross-section, however, the friction material can be positioned on an engagement surface  306  having a circular cross-section, a square cross-section, on oval cross-section, and/or any suitable cross-sectional shape. 
     Turning to  FIGS.  12  and  13   , cross-sectional views of the suction cup  110  and the container  102  are shown.  FIG.  12    shows the suction cup  110  in a ready position. In the ready position, the skirt  302  can be engaged with a side of the container  102 . There can be a space  1202  (e.g., a space filled with air) between the engagement surface  306  and the container  102 . In the ready position, no air or a small amount of air may be flowing through the stem  316 . For example, from the space between the engagement surface  306  through the aperture  310  and/or the stem  316 . 
       FIG.  13    shows the suction cup  110  in the vacuum hold position. In the vacuum hold position, the engagement surface  306  can be engaged with the container  102  (e.g., there is no longer a space  1202 ). In the vacuum hold position, the air can be removed (e.g., via pump  112 ) from between the engagement surface  306  and the container  102 . Removing the air can lower the pressure in the area between the engagement surface  306  and the container  102  (e.g., lower than the atmospheric pressure) and/or generate a vacuum. The vacuum and/or the lower pressure can cause the skirt  302  to compress and the engagement surface  306  to move towards the container  102 , for example, until the engagement surface is in contact with the container  102 . The channels  308  can allow air to continue to flow from the periphery of the engagement surface  306  to the aperture  310 . For example, the engagement surface  306  can be engaged with the container  102  and the channels  308  can leave a gap that allows air to flow from the periphery to the aperture  310 . 
     Based on the disclosure and teachings provided herein, a person of ordinary skill in the art will appreciate other ways and/or methods to implement the various embodiments. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense. It will, however, be evident that various modifications and changes may be made thereunto without departing from the broader spirit and scope of the disclosure as set forth in the claims. 
     Other variations are within the spirit of the present disclosure. Thus, while the disclosed techniques are susceptible to various modifications and alternative constructions, certain illustrated embodiments thereof are shown in the drawings and have been described above in detail. It should be understood, however, that there is no intention to limit the disclosure to the specific form or forms disclosed, but on the contrary, the intention is to cover all modifications, alternative constructions, and equivalents falling within the spirit and scope of the disclosure, as defined in the appended claims. 
     The use of the terms “a” and “an” and “the” and similar referents in the context of describing the disclosed embodiments (especially in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise indicated herein or clearly contradicted by context. The terms “comprising,” “having,” “including,” and “containing” are to be construed as open-ended terms (i.e., meaning “including, but not limited to,”) unless otherwise noted. The term “connected” is to be construed as partly or wholly contained within, attached to, or joined together, even if there is something intervening. Recitation of ranges of values herein are merely intended to serve as a shorthand method of referring individually to each separate value falling within the range, unless otherwise indicated herein and each separate value is incorporated into the specification as if it were individually recited herein. All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g., “such as”) provided herein, is intended merely to better illuminate embodiments of the disclosure and does not pose a limitation on the scope of the disclosure unless otherwise claimed. No language in the specification should be construed as indicating any non-claimed element as essential to the practice of the disclosure. 
     Disjunctive language such as the phrase “at least one of X, Y, or Z,” unless specifically stated otherwise, is intended to be understood within the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (e.g., X, Y, and/or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present. 
     Preferred embodiments of this disclosure are described herein, including the best mode known to the inventors for carrying out the disclosure. Variations of those preferred embodiments may become apparent to those of ordinary skill in the art upon reading the foregoing description. The inventors expect skilled artisans to employ such variations as appropriate and the inventors intend for the disclosure to be practiced otherwise than as specifically described herein. Accordingly, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto as permitted by applicable law. Moreover, any combination of the above-described elements in all possible variations thereof is encompassed by the disclosure unless otherwise indicated herein or otherwise clearly contradicted by context. 
     All references, including publications, patent applications, and patents, cited herein are hereby incorporated by reference to the same extent as if each reference were individually and specifically indicated to be incorporated by reference and were set forth in its entirety herein.