Patent Description:
Vacuum end-of-arm tools can be used on robotic arms for many functions, including gripping and moving objects. For example, a vacuum tool may have one or more suction cups that come in contact with an object. A vacuum can be drawn in the suction cup(s) to exert a force on the object. To maximize the force of the vacuum tool on the object, all of the suction cups in which the vacuum is drawn must be in contact with the object. Even one suction cup not being in contact with the object can reduce the strength of the force of the vacuum tool on the object to the point that the vacuum tool cannot grip the object sufficiently to move the object. Using a vacuum tool to grip objects of different shapes can be difficult. The different shapes of the objects can prevent all suction cups of the vacuum tool from contacting the object.

<CIT> discloses a vacuum chamber and a valve, the valve being located between the vacuum chamber and a port and being configured to passively couple the vacuum chamber to the port when the port is engaged by an object. The valve comprises: a moving component having a first end and a second end opposite to the first end, wherein the moving component is movable between a closed position and an open position; a bleed orifice that is exposed to the vacuum chamber when the moving component is in the closed position; and wherein, when the moving component is in the closed position, the first end of the moving component is in contact with an inner wall of the vacuum chamber to deter movement of gas into and out of the port; wherein, when the moving component is in the open position, the first end of the moving component is not in contact with the inner wall of the vacuum chamber; wherein the bleed orifice permits gas to pass such that, when a vacuum is drawn in the vacuum chamber and the port is engaged by an object, a pressure on the second end of the moving component is reduced to overcome a force of the vacuum chamber and cause the moving component to passively move from the closed position to the open position. Similar vacuum manifolds including a vacuum chamber and a valve are described in <CIT>, <CIT>, and in <CIT>.

It is possible to overcome the lack of contact between an object and some of the vacuum cups on vacuum tool. For example, a separate vacuum source can be coupled to each of the suction cups so that the lack of contact between one of the suction cups and the object does not affect the operation of the other suction cups. However, having multiple vacuum sources for a single vacuum tool can be expensive. In another example, each of the suction cups can be coupled to a single vacuum source in parallel with a valve for each suction cup. In this example, the valves can be independently controlled (e.g., by a controller) to open each valve when the corresponding suction cup contacts the object. However, having active control of the valves and sensors to detect contact between each suction cup and the object can be complex and expensive.

In a first embodiment, a vacuum manifold comprises a vacuum chamber and a valve located between the vacuum chamber and a port and configured to passively couple the vacuum chamber to the port when the port is engaged by an object. The valve includes a moving component, a channel, a bleed orifice, and a biasing mechanism. The moving component has a first end and a second end opposite the first end and the moving component is movable between a closed position and an open position. The channel extends through the moving component between the first and second ends. The bleed orifice extends through the moving component between the channel and a side of the moving component that is exposed to the vacuum chamber when the moving component is in the closed position. The biasing mechanism is configured to bias the moving component to the closed position. When the moving component is in the closed position, the first end of the moving component is in contact with an inner wall of the vacuum chamber to deter movement of gas into and out of the channel at the first end. When the moving component is in the open position, the first end of the moving component is not in contact with the inner wall of the vacuum chamber. The bleed orifice permits gas to pass such that, when a vacuum is drawn in the vacuum chamber and the port is engaged by an object, a pressure on the second end of the moving component is reduced to overcome a force of the biasing mechanism and cause the moving component to passively move from the closed position to the open position.

In a second embodiment, one or more dimensions of the bleed orifice of the first embodiment are selected based on a predetermined flow rate of gas permitted to pass through the bleed orifice when the moving component is in the closed position.

In a third embodiment, the channel of any one of the preceding embodiments extends in a direction that is substantially perpendicular to a direction in which the bleed orifice extends.

In a fourth embodiment, the bleed orifice of any one of the preceding embodiments includes at least one of a notch in the first end of the moving component and a through hole in the moving component.

In a fifth embodiment, the moving component of any one of the preceding embodiments is cylindrical in shape and the channel is a through hole in the moving component.

In a sixth embodiment, the cylindrical shape of the moving component of the fifth embodiment has a stepped-diameter profile such that a first portion of the moving component that includes the first end has a first diameter, a second portion of the moving component that includes the second end has a second diameter, and the first diameter is smaller than the second diameter.

In a seventh embodiment, the second portion of the moving component of the sixth embodiment includes a third end opposite the second end, and wherein the third end is exposed to an ambient environment, optionally wherein
the third end has a trough that extends around the first portion of the moving component, and wherein the trough is communicatively coupled to the ambient environment via a reference channel.

In an eighth embodiment, the moving component of any one of the sixth to seventh embodiments is configured to be located within a portion of the vacuum manifold that includes a first bore and a second bore with the first portion of the moving component located in the first bore and the second portion of the moving component located in the second bore, wherein the first diameter is selected to limit passage of gas between the first portion of the moving component and the first bore, and wherein the second diameter is selected to limit passage of gas between the second portion of the moving component and the second bore.

In a ninth embodiment, the biasing mechanism of any one of the preceding embodiments includes a compression spring positioned between the port and the second end of the moving component.

In a tenth embodiment, a cross-sectional area of the channel of any one of the preceding embodiments is less than a cross-sectional area of a gas passageway in the port, optionally wherein
, when an engagement component is coupled to the port of the eleventh embodiment and the engagement component has a gas passageway, the cross-sectional area of the channel is less than a cross-sectional area of the gas passageway of the engagement component.

In an eleventh embodiment, when the object is disengaged from the port of any one of the preceding embodiments, the biasing mechanism is configured to move the moving component from the open position to the closed position.

In a twelfth embodiment, the vacuum manifold of any of the preceding embodiments comprises a plurality of ports, and a plurality of valves. The plurality of ports are coupled in parallel to the vacuum chamber and the plurality of ports are exposed to the ambient atmosphere. Each of the plurality of valves is located between the vacuum chamber and one of the plurality of ports. The plurality of valves are configured to move between the open and closed positions independently of each other.

In a thirteenth embodiment, one or more dimensions of the bleed orifices of the plurality of valves of the twelfth embodiment are selected based on a number of the plurality of valves; optionally wherein.

In a fourteenth embodiment, for each of the plurality of valves, a cross-sectional area of the channel of any of the twelfth to thirteenth embodiments is less than a cross-sectional area of a gas passageway in a corresponding port of the plurality of ports.

In a fifteenth embodiment, the vacuum manifold of any of the twelfth to fourteenth embodiments is coupled to a vacuum source configured to draw the vacuum in the vacuum chamber.

The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:.

<FIG>, and <FIG> depict top, side, bottom, and side cross-sectional views, respectively, of a vacuum manifold <NUM>. In the depicted embodiment, the vacuum manifold <NUM> includes a body <NUM>. In the depicted embodiment, the body <NUM> includes a top component <NUM>, a middle component <NUM>, and a lower component <NUM> that are coupled to each other. In other embodiments, the body <NUM> can be formed from a single component or from any number of components. The vacuum manifold <NUM> includes a vacuum chamber <NUM>. In the depicted embodiment, the vacuum chamber <NUM> is bounded by the top component <NUM> and the middle component <NUM> of the body <NUM>. The top component <NUM> includes a vacuum port <NUM> that is in fluid communication with the vacuum chamber <NUM>. The vacuum port <NUM> is configured to be coupled to a vacuum source that is capable of drawing a vacuum in the vacuum chamber <NUM>.

The vacuum manifold <NUM> includes a number of ports <NUM>. In some embodiments, the ports <NUM> pass through the lower component <NUM> of the body. In the depicted embodiment, the lower component <NUM> includes protrusions <NUM> that extend from the lower surface and the ports <NUM> pass through the protrusions <NUM>. In some embodiments, the protrusions <NUM> are formed from a compliant material (e.g., rubber) that tends to comply with objects so that the objects are likely to engage the ports <NUM> when the objects contact the protrusions <NUM>. As can be seen in <FIG>, the depicted embodiment of ports <NUM> includes a three-by-five array of ports. It will be appreciated that, in other embodiments, the ports <NUM> could have any number and/or be arranged in any other way (e.g., in other rectangular arrays, in other patterns, in random assortments, etc.). Regardless of the arrangement of the ports <NUM>, no arrangement of the ports <NUM> will fit all possible shapes of objects. Some objects may have a shape that permits the objects to engage all of the ports <NUM>. Other objects may have a shape that permits the objects to engage a subset of the ports <NUM>.

The ports <NUM> are coupled in parallel to the vacuum chamber <NUM>. If no valves were located between the ports <NUM> and the vacuum chamber <NUM>, a vacuum drawn in the vacuum chamber <NUM> would extend to each of the ports <NUM>. In such a scenario, if an object were to engage of the ports <NUM>, the vacuum would exert a force on the object at each of the ports <NUM>. However, if one of the ports <NUM> was not engaged by the object, the leakage of air through the non-engaged port would significantly reduce the force of the vacuum at the engaged ports. If more than one of the ports <NUM> were not engaged by the object, the leakage of air through the non-engaged ports would reduce the force of the vacuum at the engaged ports by an even greater magnitude.

In order to prevent leakage from non-engaged ports, the vacuum manifold <NUM> can include a valve for each of the ports <NUM>. However, as noted above, having a number of valves that are independently controlled (e.g., by a controller) to open each valve when the corresponding suction cup contacts the object can be complex and expensive. Such a system may require sensors for each of the ports <NUM> to determine whether each port is engaged and then an actuator to open and close the valves based on whether the port is engaged. It would be advantageous to prevent leakage from non-engaged ports without actively-controlled valves.

The vacuum manifold <NUM> includes valves <NUM> that are passive valves. One of the valves <NUM> is positioned between one of the ports <NUM> and the vacuum chamber <NUM>. The valves <NUM> are biased closed and configured to passively open in response to the corresponding one of the ports <NUM> being engaged by an object. In this way, if one of the ports <NUM> is not engaged by an object, the valve <NUM> corresponding to that port <NUM> is remains closed to prevent leakage through the port <NUM>. The valves <NUM> are configured to move between the open and closed positions independently of each other so that, for the ports <NUM> that are engaged, the corresponding valves <NUM> will be open and, for the ports <NUM> that are non-engaged, the corresponding valves <NUM> will be closed.

Each of the valves <NUM> includes a moving component <NUM>. <FIG> depict perspective and side views, respectively, of an exemplary moving component <NUM>. The moving component <NUM> includes a first end <NUM> and a second end <NUM>. The moving component <NUM> further includes a channel <NUM> that extends through the moving component <NUM> from the first end <NUM> to the second end <NUM>. In the depicted embodiment, the moving component <NUM> is cylindrical in shape and the channel <NUM> is a through hole in the moving component <NUM>.

In the particular example shown in <FIG>, the cylindrical shape of the moving component <NUM> has a stepped-diameter profile that includes a first portion <NUM> and a second portion <NUM>. The first portion <NUM> of the moving component <NUM> includes the first end <NUM> and has a first diameter. The second portion <NUM> of the moving component <NUM> includes the second end <NUM> and has a second diameter. In the depicted embodiment, the first diameter of the first portion <NUM> is smaller than the second diameter of the second portion <NUM>. While the embodiment of the moving component <NUM> and the channel <NUM> depicted in <FIG> have particular shapes, it will be understood that the moving component <NUM> and/or the channel <NUM> could have other shapes and still accomplish the functions described herein.

In the depicted embodiment, the second portion <NUM> of the moving component <NUM> includes a third end <NUM> that is opposite the second end <NUM>. In some embodiments, the third end <NUM> has a trough <NUM> that extends around the first portion <NUM> of the moving component <NUM>. As discussed in greater detail below, the third end <NUM> can be exposed to an ambient environment (e.g., via a reference channel) when the moving component <NUM> is in the vacuum manifold <NUM> to aid in the passive opening of the valve <NUM> when the port <NUM> is engaged. In embodiments where the third end <NUM> includes the trough <NUM>, the trough <NUM> may allow portions of the third end <NUM> around the first portion <NUM> to be exposed to the ambient environment.

The moving component <NUM> further includes a bleed orifice <NUM> that extends through the moving component <NUM> between the channel <NUM> and a side of the moving component <NUM>. As described in greater detail below, the end of the bleed orifice <NUM> on the side of the moving component <NUM> can be exposed to the vacuum chamber <NUM> of the vacuum manifold <NUM> when the valve <NUM>-including the moving component <NUM>-is in the closed position. The bleed orifice <NUM> permits gas to pass from the side of the moving component <NUM> into the channel <NUM> and vice versa. In the depicted embodiment, the channel <NUM> extends in a direction that is substantially perpendicular to a direction in which the bleed orifice <NUM> extends. For example, the channel <NUM> extends substantially parallel to an axis of the moving component <NUM> and the bleed orifice <NUM> extends substantially perpendicular to the axis of the moving component <NUM>.

In some embodiments, dimensions of the bleed orifice <NUM> are selected based on an amount of gas to be permitted to pass through the bleed orifice <NUM>. For example, in the embodiment depicted in <FIG>, the bleed orifice <NUM> is a notch in the first end <NUM>. The notch has a triangular cross-section that has a height <NUM> and a width <NUM>, each of which may be selected based on an amount of gas to be permitted to pass through the bleed orifice <NUM>. <FIG> depict another example of a moving component <NUM>' having a different form of a bleed orifice <NUM>'. In thatexample, the bleed orifice <NUM>' is a through hole in the first portion <NUM> of the moving component <NUM>. The bleed orifice <NUM>' has a diameter <NUM> that may be selected based on an amount of gas to be permitted to pass through the bleed orifice <NUM>'. It will be apparent that in other embodiments bleed orifices may have other shapes, forms, dimensions, and the like, while still being able to permit gas to pass from the side of the moving component <NUM> into the channel <NUM> and vice versa.

Referring back to <FIG>, each of the valves <NUM> in the vacuum manifold <NUM> includes the moving component <NUM>. In the depicted embodiment, the moving component <NUM> is located within a portion of the vacuum manifold that includes a first bore <NUM> and a second bore <NUM>. The first portion <NUM> of the moving component <NUM> is located in the first bore <NUM> and the second portion <NUM> of the moving component <NUM> located in the second bore <NUM>. In some embodiments, the first diameter of the first portion <NUM> is selected to limit passage of gas between the first portion <NUM> of the moving component <NUM> and the first bore <NUM>. Similarly, the second diameter of the second portion <NUM> is selected to limit passage of gas between the second portion <NUM> of the moving component <NUM> and the second bore <NUM>.

The valves <NUM> further include biasing mechanisms <NUM> that bias the moving components <NUM> to a closed position. In the depicted embodiment, the biasing mechanism <NUM> is a compression spring positioned between the port <NUM> and the second end <NUM> of the moving component <NUM>. In the embodiment shown in <FIG>, the moving components <NUM> are all in the closed position. In the closed position, the first end <NUM> of the moving component <NUM> is in contact with the vacuum chamber <NUM>. In the depicted embodiment, the first end <NUM> is in contact with a portion of the top component <NUM> that forms the vacuum chamber <NUM>. The positioning of the first end <NUM> of the moving component in contact with the inner wall of the vacuum chamber <NUM> deters movement of gas into and out of the channel <NUM> at the first end <NUM>. However, as discussed in more detail below, the bleed orifice <NUM> still permits passage of some gas between the vacuum chamber <NUM> and the channel <NUM>.

In the depicted embodiment, the third end <NUM> of the moving component <NUM> of each of the valves <NUM> is in fluid communication with a reference channel <NUM> in the body <NUM> of the vacuum manifold <NUM>. The reference channel <NUM> is exposed to the ambient environment outside of the vacuum manifold <NUM>. When a vacuum is drawn in the vacuum chamber <NUM>, the pressure in the ambient environment is greater than the pressure in the vacuum chamber <NUM>. In the depicted embodiment, the reference channels <NUM> passes through the top and middle components <NUM> and <NUM> of the body <NUM> in parallel for each of the valves <NUM>. In other embodiments, a single reference channel may fluidly couple to two or more moving components <NUM> to the ambient environment.

<FIG> depicts a cross-sectional view of the vacuum manifold <NUM> when a vacuum is being drawn in the vacuum chamber <NUM>. In the depicted embodiment, a connector <NUM> has been coupled to the vacuum port <NUM> and a gas line <NUM> is coupled to the connector <NUM>. In some embodiments, the connector <NUM> has external threads that engage internal threads of the vacuum port <NUM> and form a substantially sealed connection. The connector <NUM> also has ridges that engaged the internal diameter of the gas line <NUM> to form a substantially sealed connection. The other end of the gas line <NUM> can be connected to a vacuum source (not shown), which can draw a vacuum in the vacuum chamber <NUM> through the gas line <NUM>.

In <FIG>, long-short-long dashed lines indicate the possible passage of gas in the vacuum manifold <NUM>. With the moving components <NUM> in the closed position, the first ends <NUM> of the moving components <NUM> deters passage of gas out of the channels <NUM> and into the vacuum chamber <NUM>. However, the bleed orifices <NUM> permit the passage of gas from the channels <NUM> into the vacuum chamber <NUM>. Thus, as can be seen in <FIG>, gas is permitted to flow through the non-engaged ports <NUM>, through the channels <NUM> of the moving components <NUM>, through the bleed orifices <NUM> of the moving components <NUM>, and into the vacuum chamber <NUM>. In some embodiments, the cross-section areas of the bleed orifices <NUM> are relatively small (e.g., compared to the cross-section area of the channel <NUM> at the first ends <NUM>) so that, when the moving components <NUM> are in the closed position, the flow of gas through the bleed orifices <NUM> is relatively low. In this way, the load on the vacuum source from the ports <NUM> that are not engage is relatively low.

As can be seen in <FIG>, the gas is also permitted to pass from the ambient environment to the third ends <NUM> of the moving components <NUM> via the reference channels <NUM>. At the instance shown in <FIG>, the ports <NUM> are also exposed to the ambient environment because the ports <NUM> are not engaged. Thus, the force of pressure from the ambient environment on the second ends <NUM> (via the ports <NUM>) and on the third ends <NUM> (via the reference channels <NUM>) is substantially the same so that there is negligible, if any, pressure difference on the second and third ends <NUM> and <NUM>. In this condition, the force of the biasing mechanisms <NUM> are able to bias the moving component to the closed position.

<FIG> depict partial cross-sectional views the vacuum manifold <NUM>, and each of <FIG> shows an instance in an embodiment of a method of a valve <NUM> opening and closing passively. At the instance shown in <FIG>, the valve <NUM> is in the same condition shown in <FIG>. In particular, a vacuum is being drawn in the vacuum chamber <NUM>, the port <NUM> is not engaged, and the moving component <NUM> is biased to the closed position by the biasing mechanism <NUM>. As indicated by the long-short-long dashed line, gas is permitted to flow through the port <NUM>, the channel <NUM>, the bleed orifice <NUM>, and into the vacuum chamber <NUM>.

<FIG> depicts the instance when an object <NUM> engages the port <NUM>. With the object <NUM> engaging the port <NUM>, gas is no longer permitted to flow into the port <NUM>. However, the vacuum source is still drawing a vacuum in the vacuum chamber <NUM>. Because the bleed orifice <NUM> allows passage of gas from the channel <NUM> into the vacuum chamber <NUM>, the vacuum will begin to be drawn inside of the channel <NUM> and in the areas below the second end <NUM>. Thus, the pressure in the channel <NUM> and the area below the second end <NUM> of the moving component <NUM> will begin to reduce. The reference channel <NUM> remains in communication with the ambient environment such that the third end <NUM> and/or the trough <NUM> is in communication with the ambient environment. Thus, as the pressure on the second end <NUM> begins to reduce, a pressure differential between the third end <NUM> and the second end <NUM> will begin to grow. In the depicted embodiment, the reference channel <NUM> is aligned with a portion of the trough <NUM> and the trough <NUM> extends around the entire moving component <NUM> such that the entirety of the trough <NUM> is exposed to the pressure of the ambient environment and the pressure of on the trough <NUM> exerts a force that is substantially symmetric with respect to an axis of the moving component <NUM>.

In some embodiments, the biasing force of the biasing mechanism <NUM> (e.g., the spring force when the biasing mechanism <NUM> is a spring) is less than the force from the expected maximum pressure differential between the third end <NUM> and the second end <NUM>. Thus, as the pressure differential grows, the pressure differential will eventually overcome the biasing force of the biasing mechanism <NUM>. In some embodiments, the moving component <NUM> will begin moving when the pressure in the channel <NUM> reaches a gauge pressure in a range between about -<NUM> psi (-<NUM> kPa) and about -<NUM> psi (-<NUM> kPa).

<FIG> depicts an instance after the pressure differential has initially overcome the biasing force of the biasing mechanism <NUM> and the moving component <NUM> has begun to open. Because the moving component <NUM> has begun to open, the first end <NUM> is no longer in contact with the vacuum chamber <NUM>. This greatly increases the ability of gas to flow from the channel <NUM> into the vacuum chamber <NUM> because the end of the channel <NUM> at the first end <NUM> is now exposed to the vacuum chamber <NUM> and the bleed orifice <NUM> is no longer the only passage for gas from the channel <NUM> into the vacuum chamber <NUM>. The third end <NUM> remains in fluid communication with the ambient environment via the reference channel <NUM>. This outflow of gas from the channel <NUM> and the areas under the second end <NUM> further increases the pressure differential between the third end <NUM> and the second end <NUM>.

<FIG> depicts the instance when the moving component <NUM> reaches the open position. In some embodiments, the moving component <NUM> will reach the open position when the pressure in the channel <NUM> reaches a gauge pressure in a range between about -<NUM> psi (-<NUM> kPa) and about -<NUM> psi (-<NUM> kPa). In the open position, the first end <NUM> of the moving component <NUM> is not in contact with the vacuum chamber <NUM>. In the depicted embodiment, the second end <NUM> of the moving component <NUM> is in contact with the lower component <NUM> of the body <NUM> of the vacuum manifold <NUM>. In some embodiments, when the moving component <NUM> is in the open configuration, the pressure in the channel <NUM> is substantially the same as the pressure in the vacuum chamber <NUM>. As long as the object <NUM> remains engaged to the port <NUM>, the moving component <NUM> will remain in the open position.

<FIG> depicts an instance some time after the instance shown in <FIG> where the object <NUM> remains engaged to the port <NUM> and the moving component <NUM> remains in the open position. With the object <NUM> engaged to the port <NUM> and the vacuum drawn in the channel <NUM>, the vacuum exerts a force on the object <NUM> such that the object <NUM> can be lifted, repositioned, turned, or otherwise moved by moving the vacuum manifold <NUM>. The force of the vacuum on the object <NUM> at the port <NUM> will continue to be exerted until the object <NUM> is disengaged from the port <NUM>.

<FIG> depicts an instance after the object <NUM> has been disengaged from the port <NUM>. In some embodiments, the object <NUM> can be disengaged from the port <NUM> by exerting a force on the object <NUM> that will overcome the force of the vacuum. For example, in the depicted embodiment, the object <NUM> can be pulled downward away from the port <NUM> so that the object <NUM> is no longer in contact with the port <NUM>. In some embodiments, the object <NUM> can be disengaged from the port by powering down the vacuum source and/or reducing the strength of the vacuum source. The loss or reduction of the vacuum can allow the object <NUM> to drop or fall from the port <NUM>.

Once the object <NUM> no longer engages the port <NUM>, the port is again exposed to the ambient atmosphere and the pressure in the port <NUM> and the channel <NUM> increases. As the pressure in the port <NUM> and the channel <NUM> increases, the pressure differential between the third end <NUM> and the second end <NUM> decreases. As the pressure differential decreases, the pressure differential is no longer sufficient to overcome the biasing force of the biasing mechanism <NUM>. At the instance shown in <FIG>, the moving component <NUM> is in the process of moving back from the open position to the closed position.

<FIG> depicts the instance when the moving component <NUM> reaches the closed position. At that point, the first end <NUM> is again in contact with the vacuum chamber <NUM> such that gas is deterred from moving from the channel <NUM> into the vacuum chamber <NUM>. However, the bleed orifice <NUM> continues to permit a relatively small flow of gas from the channel <NUM> into the vacuum chamber <NUM>. In cases where the object <NUM> is disengaged from the port <NUM> by reducing or eliminating the vacuum, the vacuum source can remain off or reduced through the instance shown in <FIG>.

<FIG> depicts the flow of gas from the channel <NUM> into the vacuum chamber <NUM> that is permitted by the bleed orifice <NUM>. At the instance shown in <FIG>, the vacuum source is again drawing the vacuum in the vacuum chamber <NUM> substantially similar to how the vacuum was being drawn in the instance shown in <FIG>. At the point shown in <FIG>, the port <NUM> can again be engaged by an object (e.g., the object <NUM> or another object) and the process shown in <FIG> can be repeated.

<FIG> depict perspective views of an embodiment of the moving component <NUM> and a cross-section of the vacuum manifold <NUM> in the closed and open positions, respectively. As can be seen in <FIG>, when the port <NUM> is non-engaged and the moving component <NUM> is in the closed position, the first end <NUM> is in contact with the vacuum chamber <NUM> in the closed position. The bleed orifice <NUM> also permits the passage of gas from the channel <NUM> to the vacuum chamber <NUM> while the moving component <NUM> is in the closed position. As can be seen in <FIG>, when the port <NUM> is engaged by the object <NUM> and the moving component <NUM> is in the open position, the first end <NUM> is not in contact with the vacuum chamber <NUM> in the closed position. Gas is permitted to exit the channel <NUM> through the first end <NUM> and into the vacuum chamber <NUM>.

As can be seen in the depicted embodiment, the cross-sectional area of the bleed orifice <NUM> is significantly less than the cross-sectional area of the channel <NUM> at the first end. Thus, the flow of gas permitted by the bleed orifice <NUM> when the moving component <NUM> is in the closed position is less than the flow of gas permitted through the first end <NUM> when the moving component <NUM> is in the open position. In this way, the flow of gas through the bleed orifice <NUM> when the moving component <NUM> is in the closed position limits the amount of gas that can pass from the channel such that the gas that passes through the bleed orifice does not significantly affect the vacuum drawn in the vacuum chamber <NUM>. Similarly, when the moving component <NUM> is in the open position, the flow of gas permitted through the first end <NUM> allow the full force of the vacuum drawn in the vacuum chamber <NUM> to be applied to the object <NUM> at the port <NUM>. Where the vacuum manifold includes multiple ports <NUM>, the flow rates of the gas through the open and closed moving components <NUM> allow an object to engage one or more, but not all, of the ports <NUM> and be gripped by the force of the vacuum on the engaged ports <NUM>.

<FIG> depict an embodiment of the vacuum manifold <NUM> and the object <NUM> engaging some, but not all, of the ports <NUM>. <FIG> depict a portion of the vacuum manifold <NUM> that includes three ports <NUM>-referred to below as the left port <NUM>, the middle port <NUM>, and the right port <NUM>-and three valves-referred to below as the left valve <NUM>, the middle valve <NUM>, and the right valve <NUM>. At the instance shown in <FIG>, the manifold is in a position similar to the position shown in <FIG>. In particular, the left, middle, and right ports <NUM> are all non-engaged and each of the left, middle, and right moving components <NUM> is in the closed position. The vacuum source is drawing a vacuum in the vacuum chamber <NUM> via the gas line <NUM>. Gas is able to pass through each of the left, middle, and right ports <NUM>, through the left, middle, and right channels <NUM>, through the left, middle, and right bleed orifices <NUM>, and into the vacuum chamber <NUM>.

At the instance depicted in <FIG>, the object <NUM> has engaged the middle and right ports <NUM>. The engagement of the middle and right ports <NUM> caused the pressure in the middle and right channels <NUM> to be reduced to the point that the pressure on the third end <NUM> from the ambient environment overcame the biasing force of the middle and right biasing mechanisms <NUM> to move the middle and right moving components <NUM> from the closed position shown in <FIG> to the open position shown in <FIG>. The pressure in the middle and right channels <NUM> and at the middle and right ports <NUM> has been reduced such that a gripping force is exerted on the object <NUM> at the middle and right ports <NUM>.

The object <NUM> has not engaged the left port <NUM> at the instance shown in <FIG>. Because the left port <NUM> remains non-engaged, the left moving component <NUM> remains in the closed position. With the left moving component <NUM> in the closed position, some gas is permitted to pass through the left port <NUM>, through the left channel <NUM>, through the left bleed orifice <NUM>, and into the vacuum chamber <NUM>. However, the cross-sectional area of the left bleed orifice <NUM> has been selected such that the limited flow of gas through the left bleed orifice <NUM> does not have a significant negative impact on the pressure in the vacuum chamber.

In some embodiments, one or more dimensions of a bleed orifice is selected based on a predetermined flow rate of gas permitted to pass through the bleed orifice when the moving component is in the closed position. In some cases, where a vacuum manifold includes multiple valves, the one or more dimensions of the bleed orifices of the valves are selected based on a number of the valves in the vacuum manifold. For example, the one or more dimensions of the bleed orifices of the valves may be selected such that, if a vacuum manifold included n valves and an object was engaged to only one of the ports, the force exerted on the object at that one port would be above a minimum force despite gas being permitted to flow through the bleed orifices of the remaining n-<NUM> valves.

<FIG> depict side and bottom views, respectively, of an embodiment of the vacuum manifold <NUM> having engagement components <NUM>. In the depicted embodiments, the engagement components <NUM> are suction cups. In other embodiments, the engagement components <NUM> may be any other type of engagement components configured to engage objects with the ports. The depicted embodiment includes one of the engagement components <NUM> on each of the protrusions <NUM>. In the depicted embodiment, each of the engagement components <NUM> is formed separately from and coupled to one of the plurality of ports <NUM>. In other embodiments, the engagement components <NUM> can be integrally formed with the plurality of ports <NUM> (e.g., integrally formed with the protrusions <NUM>). In the depicted embodiment, each of the engagement components <NUM> includes a gas passageway <NUM> that permits gas to flow from outside of the engagement component <NUM> and into the port <NUM> to which the engagement component <NUM> is coupled.

In some embodiments, the cross-sectional area of the channel of a moving component is determined such that the cross-sectional area of the channel is the smallest passageway between the ambient environment and the vacuum chamber when the valve is open. For example, in some embodiments, the cross-sectional area of the channel is less than a cross-sectional area of a gas passageway in the port. In another example where the port includes an engagement component that has a gas passageway, the cross-sectional area of the channel is less than a cross-sectional area of the gas passageway of the engagement component. If the cross-sectional area of the channel is the smallest passageway between the ambient environment and the vacuum chamber, the size of the channel is the limiting factor of the flow of gas when the moving component is in the open position. If another component (e.g., the port or an engagement component) had a smaller cross-sectional area, that component would limit the flow of gas and cause the moving device to hang in the open position even after the port is no longer engaged by an object.

The embodiments of vacuum manifolds described herein can be used on end-of-arm tools, such as those disclosed in <CIT>. The use of the vacuum manifolds described herein can be useful particularly when the end-of-arm tool is used to pick up and/or move objects of various sizes. The passive opening and closing of the valves allows the most force to be applied to each object without the need for user intervention or operation to adjust the valves.

For purposes of this disclosure, terminology such as "upper," "lower," "vertical," "horizontal," "inwardly," "outwardly," "inner," "outer," "front," "rear," and the like, should be construed as descriptive and not limiting the scope of the claimed subject matter. Further, the use of "including," "comprising," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms "connected," "coupled," and "mounted" and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. Unless stated otherwise, the terms "substantially," "approximately," and the like are used to mean within <NUM>% of a target value.

Claim 1:
A vacuum manifold (<NUM>) comprising:
a vacuum chamber (<NUM>); and
a valve (<NUM>) located between the vacuum chamber (<NUM>) and a port (<NUM>) and configured to passively couple the vacuum chamber (<NUM>) to the port (<NUM>) when the port (<NUM>) is engaged by an object (<NUM>), the valve (<NUM>) comprising:
a moving component (<NUM>, <NUM>') having a first end (<NUM>) and a second end (<NUM>) opposite the first end (<NUM>), wherein the moving component (<NUM>, <NUM>') is movable between a closed position and an open position;
a channel (<NUM>) extending through the moving component (<NUM>, <NUM>') between the first and second ends (<NUM>, <NUM>);
a bleed orifice (<NUM>, <NUM>') extending through the moving component (<NUM>, <NUM>') between the channel (<NUM>) and a side of the moving component (<NUM>, <NUM>') that is exposed to the vacuum chamber (<NUM>) when the moving component (<NUM>, <NUM>') is in the closed position; and
a biasing mechanism (<NUM>) configured to bias the moving component (<NUM>, <NUM>') to the closed position;
wherein, when the moving component (<NUM>, <NUM>') is in the closed position, the first end (<NUM>) of the moving component (<NUM>, <NUM>') is in contact with an inner wall of the vacuum chamber (<NUM>) to deter movement of gas into and out of the channel (<NUM>) at the first end (<NUM>);
wherein, when the moving component (<NUM>, <NUM>') is in the open position, the first end (<NUM>) of the moving component (<NUM>, <NUM>') is not in contact with the inner wall of the vacuum chamber (<NUM>);
wherein the bleed orifice (<NUM>, <NUM>') permits gas to pass such that, when a vacuum is drawn in the vacuum chamber (<NUM>) and the port (<NUM>) is engaged by an object (<NUM>), a pressure on the second end (<NUM>) of the moving component (<NUM>, <NUM>') is reduced to overcome a force of the biasing mechanism (<NUM>) and cause the moving component (<NUM>, <NUM>') to passively move from the closed position to the open position.