阅读说明：本技术 电磁夹持装置 (Electromagnetic clamping device ) 是由 塞佩尔·谢赫勒斯拉米 卡罗·门安 于 2020-02-04 设计创作，主要内容包括：本发明将提供一种装置,该装置通过电磁力操纵的柔性膜来实现夹持动作。本发明提供的夹持力最适于易损的物体,因为本发明可温和地施加位移所需的夹持力。这是通过腔室、膜、附接在膜上的柱塞以及构造成操纵柱塞(进而操纵膜)的螺线管来实现的。(The present invention is to provide a device that achieves a clamping action through an electromagnetically operated flexible membrane. The clamping force provided by the present invention is most suitable for delicate objects because the present invention allows for gentle application of the clamping force required for displacement. This is achieved by a chamber, a membrane, a plunger attached to the membrane, and a solenoid configured to operate the plunger (and thus the membrane).)

1. An electromagnetic clamping device comprising:

a solenoid comprising an electrically conductive material, wherein the solenoid generates an electromagnetic field upon application of an electrical current;

a deformable membrane; and

a plunger attached to the deformable membrane and positioned within the electromagnetic field, the plunger further comprising a ferromagnetic, ferrimagnetic, or magnetic material configured to interact with the electromagnetic field;

wherein the plunger is to move in accordance with a change in the electromagnetic field, and wherein moving the plunger also moves the deformable membrane to provide a clamping or attractive force when the deformable membrane is positioned adjacent to an object.

2. The device of claim 1, further comprising a chamber, wherein the deformable membrane is positioned adjacent to the chamber, the chamber configured to provide structural support to the device.

3. The apparatus of claim 1, wherein a change in the current applied to the solenoid changes a force and a direction of the electromagnetic field, and wherein the change manipulates a movement and a position of the plunger in the electromagnetic field.

4. The device of claim 1, wherein the plunger further comprises a plurality of plungers, and wherein the plurality of plungers are stacked together.

5. The device of claim 1, wherein the membrane comprises a ferromagnetic, ferrimagnetic, or magnetic material configured to interact with the electromagnetic field independently of the plunger.

6. The device of claim 1, wherein the membrane further comprises a variable thickness, and wherein the membrane further comprises a plurality of different materials.

7. The device of claim 1, further comprising an adapter positioned adjacent to the solenoid, wherein the membrane is attached to the adapter, and wherein the adapter is configured to modify deformation of the membrane to maximize a grasping or attraction force provided by the membrane.

8. The apparatus of claim 2, further comprising a plurality of sensors positioned within the chamber, the sensors configured to detect a pressure within the chamber, a volume within the chamber, a temperature of the solenoid, and a position of the plunger.

9. The apparatus of claim 1, further comprising a cooling system positioned adjacent to the solenoid and configured to reduce a temperature of the solenoid.

10. The apparatus of claim 1, wherein the solenoid further comprises a hollow tube, wherein a coolant is capable of flowing through the hollow tube to reduce a temperature of the solenoid.

11. The device of claim 1, further comprising a guide positioned within the solenoid, the guide further comprising an aperture configured to receive the plunger, wherein the plunger is configured to maintain its direction of movement when interacting with the guide.

12. The device of claim 1, wherein the film further comprises a microfeature surface adapted to provide dry adhesion.

13. The device of claim 1, wherein the membrane further comprises at least one conductive material adapted to provide electrostatic adhesion, wherein a voltage is applied to the at least one conductive material to provide an attractive force to preload the membrane itself, or a resistive force to self-peel the membrane, or alternating application of the voltage to make the membrane self-cleaning.

14. An electromagnetic clamping device comprising:

a chamber;

a solenoid configured to generate an electromagnetic field;

a deformable membrane positioned adjacent to the chamber; and

a plunger attached to the deformable membrane and positioned within the electromagnetic field, the plunger configured to interact with the electromagnetic field;

wherein the deformation of the deformable membrane is maintained by a controlled position of the plunger obtained under manipulation of the electromagnetic field, thereby providing suction to an object.

15. A method of electromagnetically clamping an object, comprising:

positioning a deformable membrane adjacent to an object, the deformable membrane further comprising a plunger configured to interact with an electromagnetic field; and

generating the electromagnetic field by a solenoid positioned adjacent to and external to the deformable membrane and plunger; and

manipulating the electromagnetic field by a change in current;

wherein deformation of the deformable membrane is maintained by a controlled position of the plunger obtained under manipulation of the electromagnetic field, and wherein the deformation will grip or exert an attractive force on the object.

16. The method of claim 15, wherein the film comprises a ferromagnetic, ferrimagnetic, or magnetic material configured to interact with the electromagnetic field independently of the plunger.

17. The method of claim 15, further comprising an adapter positioned adjacent to the solenoid, wherein the membrane is attached to the adapter and the adapter is configured to change the deformation of the membrane to maximize the gripping or attraction force provided by the membrane.

Technical Field

The present invention relates generally to an electromagnetic gripping device, and more particularly, to an end effector of a robot arm for grasping and moving an object using electromagnetic force.

Background

In the world of automated manufacturing, there are hundreds of different automated systems that perform repetitive tasks. Mechanical arms and mechanical clamping devices suitable for automated tasks requiring the movement of delicate objects are among the most hoped automated devices available to people. Conventionally, various mechanical gripping devices, such as flexible grippers and rigid grippers, have been developed based on different actuation systems, and have respective advantages and disadvantages. With the need to grasp different objects, the need for flexible gripping devices has also followed.

Flexible grippers are designed to handle objects that are not the most suitable for the field to be handled by rigid grippers. To achieve the goal of achieving a more flexible gripper, many soft gripper designs have been created that can grasp and place objects of different shapes and weights. Some grippers require a vacuum pump or air compressor to actuate. For example, some variations combine suction cups and vacuum systems to lift an object by suction. Other gripping devices are filled with granular material, covered externally with an elastomer, wherein the elastomer is shaped around the object to be lifted, and the air inside is evacuated, hardening the elastomer and lifting the object.

While different soft grippers exist in the art, they are limited in many respects. Therefore, there is a need for a soft gripper to handle delicate objects without sacrificing speed and reliability. For example, there is a need to grasp tomatoes in a factory and place them one by one in a sorting box. Further, there is a need for a self-contained gripper that can grasp relatively heavy objects without the need for expensive vacuum systems in order to operate without sacrificing operating speed. The present invention meets these needs.

Disclosure of Invention

The present invention is to provide an electromagnetic gripping device that is adapted to handle delicate objects without sacrificing speed and reliability. Furthermore, the present invention is self-contained and suitable for grasping relatively heavy objects without requiring additional systems and without increasing the speed of operation. This is achieved by a deformable membrane, a plunger attached to the membrane, and a solenoid configured to operate the plunger, and thus the deformable membrane, which is placed in proximity to the object. These elements cooperate to provide the gripping force on the object by means of electromagnetic forces, or more specifically, by deforming the membrane so that it provides the necessary gripping force to lift and displace the object.

These and other objects of the present invention will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the invention claimed.

Drawings

FIG. l is a front cross-sectional view of the present invention with a single plunger;

FIG. 2 is a front cross-sectional view of the present invention showing a plurality of plungers;

FIG. 3 is a front cross-sectional view of the present invention showing a plurality of stacked plungers;

FIG. 4 is a front cross-sectional view of the present invention showing a membrane positioned within a solenoid;

FIG. 5 is a front cross-sectional view of the present invention showing the open-ended chamber;

FIG. 6 is a front cross-sectional view of the present invention showing an open-ended chamber having a conical chamber;

FIG. 7 is a front cross-sectional view of the present invention showing the conical chamber attached to a pressurized line;

FIG. 8 is a front cross-sectional view of the present invention showing a truncated cone;

FIG. 9 is a front cross-sectional view of the present invention showing a membrane having a variable thickness;

FIG. 10 is a front cross-sectional view of the present invention showing the lock;

FIG. 11 is a front cross-sectional view of the present invention showing a plurality of sensors;

FIG. 12 is a front cross-sectional view of the present invention showing the cooling system adjacent to the solenoid;

FIG. 13 is a front cross-sectional view of the present invention showing the cooling system positioned between two solenoids;

FIG. 14 is a front cross-sectional view of the present invention showing the cooling plate adjacent to the solenoid;

FIG. 15 is a front cross-sectional view of the present invention showing a plurality of solenoids;

FIG. 16 is a front cross-sectional view of the present invention showing a solenoid of a different configuration;

FIG. 17 is a front cross-sectional view of the invention showing an object being gripped and the suction created between the object and the film;

FIG. 18 is a front perspective view of the present invention;

FIG. 19 is a flow chart showing the steps of the present invention;

FIG. 20 is a flow chart showing the steps of the present invention;

FIG. 21 is a flow chart showing steps of the present invention;

FIG. 22 is a flow chart showing the steps of the present invention;

FIG. 23 is a cross-sectional view of the present invention using a rod to guide the plunger;

FIG. 24 is a cross-sectional view of the present invention with an open end and using a rod to guide the plunger;

FIG. 25 is a cross-sectional view of the present invention showing a large plunger attached to a relaxed film;

FIG. 26 is a cross-sectional view of the present invention showing a large plunger attached to a relaxed film, and a guide groove;

FIG. 27 is a cross-sectional view of the invention gripping an arbitrarily shaped object, showing the suction created between the object and the film following the shaping around the object;

FIG. 28 is a cross-sectional view of the present invention with the plunger embedded in the membrane in the form of small-scale particles; and

fig. 29 is a cross-sectional view of the present invention showing the connector.

Detailed Description

Exemplary embodiments of the present invention are described below. The following explanation provides specific details for a thorough understanding and description of implementing the embodiments. It will be understood by those skilled in the art that the present invention may be practiced without these details. In other instances, well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments. Throughout the specification and claims, the words "comprise", "comprising", and the like, are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense, unless the context clearly requires otherwise; that is, words using the singular or plural number also include the plural or singular number, respectively, in the sense of "including but not limited to". Moreover, the words "herein," "above," "below," and words of similar import, as used in this application, shall refer to this application as a whole and not to any particular portions of this application. When the claims use the word "or" in reference to two or more lists of items, that word covers all of the following interpretations of the word: any of the items in the list, all of the items in the list, and any combination of the items in the list.

The present invention includes a chamber 20, a solenoid 21 wrapped around the chamber 20, a deformable membrane 31, and a plunger 41 attached to the deformable membrane 31. The present claims describe various configurations of these components and these components work in concert to provide a grip on the object 91 or, more specifically, to deform the membrane 30 via electromagnetic forces, thereby causing the membrane 31 to generate the negative pressure (suction) and/or other forces required to lift and move the object 91. The electromagnetic interaction between the solenoid 21 and the plunger 41 causes movement of the membrane 31, thereby causing the membrane 31 to follow the surface contour of the object 91. Further movement of the object 91, depending on the roughness and porosity of the object 91, may create a suction cavity between the object 91 and the membrane 31, further enhancing the gripping potential of the present invention.

In the preferred embodiment, the chamber 20 comprises structural support for the present device and is generally cylindrical. In a preferred embodiment, the chamber 20 will have at least one open end. Alternatively, the chamber 20 may comprise a closed end, thereby forming a sealed chamber together with the membrane 31. The chamber 20 may be of any suitable shape, such as cylindrical, rectangular or conical. In alternative embodiments, multiple chambers 20 may be connected and cooperate to provide the force required to move plunger 41. The chamber 20 comprises a durable and resilient material such as aluminum or other metal alloys. Alternatively, the chamber 20 may be made of durable, resilient and non-magnetic materials. In another alternative embodiment, a plurality of sensors are installed to detect the position of the membrane 31, plunger 41, object 91, the temperature of the device, the pressure of the device and other environmental information.

The solenoid 21 is positioned within the chamber 20 or around the periphery of the chamber 20 and comprises a wire that is generally wound around the chamber 20 in the shape of a helical coil, the wire being adapted to generate a magnetic field when an electrical current is applied to the solenoid 21. The magnetic field generated by the solenoid 21 is adapted to interact with a plunger 41, which plunger 41 is positioned adjacent to the solenoid 21 or inside the solenoid 21. The strength of the magnetic field varies depending on the application, and thus, the design requirements of the present invention may vary from application to application. More specifically, the magnetic field strength is varied by increasing or decreasing the number of turns of wire that the solenoid 21 surrounds around the chamber 20, by increasing or decreasing the diameter and length of wire in the solenoid 21, by increasing the current applied to the solenoid 21, or by changing the materials used in the solenoid 21. Further, the direction of the magnetic field can be switched by changing the polarity of the power applied to the solenoid 21.

The solenoid 21 is electrically conductive, depending on the material used. The solenoid 21 may be made of copper, silver, gold, or other suitable electrically conductive material, depending on the power, efficiency, and cost requirements of the application. Further, the solenoid 21 may be stretchable and flexible (e.g., conductive polymer). In alternative embodiments, the invention may include a plurality of solenoids 21 in series, parallel, or other configurations, the solenoids 21 being adapted to cooperate with the plunger 41 to generate a single magnetic field that interacts with the plunger 41. For example, a plurality of solenoids 21 may be stacked, each solenoid 21 having a set of independent terminals, may be individually powered, or may also be powered in series or in parallel. Further, the plurality of solenoids may have different wire diameters, each solenoid may require a different current, and may further be looped adjacent to each other to provide a more controlled electromagnetic field. Although shown as a generally helical shape, the overall shape of the solenoid 21 may be cylindrical, conical, annular, helical or other geometry that generates a magnetic field to interact with the plunger 41.

The membrane 31 comprises a flexible and durable substrate capable of providing a strong grip and is positioned adjacent to the solenoid 21. The film 31 is adapted to be in direct contact with the object 91 and to deform following a part or the entire surface of the object 91. More specifically, the membrane 31 will move medially within the chamber 20, but the movement of the membrane 31 within the chamber 20 may vary depending on the application. Suitable membrane 31 materials include latex, silicone, polyurethane, and other polymeric or flexible materials. The membrane 31 may also be made of a circular shape, a rectangular shape, a cylindrical shape with a closed end, and any other shape depending on the shape of the solenoid 21 and the plunger 41. Furthermore, the membrane 21 may have a constant or variable thickness. Finally, the surface of the film 31 may be smooth to better conform to smooth objects, or have a structured surface to better conform to objects with a rougher surface, or have a structured surface that may determine how and where the film 31 will fold to maximize the grasping and suction forces.

Due to the deformation in the vicinity of the object 91, the membrane 31 will provide a direct clamping force to the object 91 by the pressure acting through the membrane 31. The membrane 31 will also exert other clamping forces including friction, suction, dry adhesion, electro-adhesion, magnetic adhesion, negative pressure, or other forms of attraction provided by the mechanical, chemical, or nuclear properties of the membrane 31 and the object 91. The dry adhesion is based on van der waals forces generated at the surface of the film 31. These van der waals forces are based on electric dipole interactions and can be enhanced by electro-dry adhesion. Thus, electrodry adhesion can increase the preload of the membrane by applying power to the object to be lifted. To this end, electrodes may be embedded in the membrane 31 and charged accordingly to increase the preload and reduce the pressure exerted by the membrane on the object.

More specifically, the membrane 31 may be specifically designed to provide an attractive and/or repulsive force independent of its deformation. Here, the film 31 will further comprise a microfeature surface adapted to provide dry adhesion and at least one conductive material adapted to provide electrostatic adhesion. Applying a voltage to the electrically conductive material to provide an attractive force to preload the microfeature surface on its own to provide a resistive force to self-peel the microfeature surface, or alternately applying the voltage to self-clean the microfeature surface. The membrane 31 may comprise a conductive polymer, rubber or silicone rubber or composite polymer, rubber or silicone rubber material with embedded conductive particles (e.g., carbon black, carbon nanotubes, silver particles, graphene, graphite or other conductive material), and an electrode.

The plunger 41 comprises a magnetic or ferromagnetic material adapted to react to the magnetic field generated by the solenoid 21. The plunger 41 is directly attached to the membrane 31, and therefore, when the plunger 41 moves, the membrane 31 also moves. More specifically, the amount of magnetic force exerted by the solenoid 21 on the plunger 41 will cause the membrane 31 to move controllably to a certain position. And as the magnitude of the magnetic force changes, the position of the plunger 41 changes, thereby maintaining the deformation of the membrane 31 as the object is moved through the controlled position of the plunger 41. For example, if an object is positioned below the membrane 31, the current sent through the solenoid 21 may be reduced or reversed, causing the membrane 31 to descend and come into direct contact with the object 91, after which the current will increase, raising the membrane 31, and causing friction, suction, and other forces to grip and lift the object 91.

In a preferred embodiment, the plunger 41 is positioned in the center of the membrane 31. Alternatively, the plunger 41 may be positioned elsewhere on the membrane 31 based on the application, and need not be centrally located on the membrane 31. Although various shapes of the plunger 41 are provided in the drawings, the plunger 41 may be any suitable shape, such as rectangular, cylindrical, or other shape, so long as the plunger 41 can interact with the magnetic field provided by the solenoid 21. More specifically, the size and shape of the plunger 41, as well as the material used in the plunger 41 and its position in the device, will directly affect the interaction of the plunger 41 with the magnetic field, and therefore, the size, shape, position, and material of the plunger are selected according to the requirements of the application. In an alternative embodiment, a plurality of plungers 41 are attached to the membrane 31. In another alternative embodiment, the plunger 41 is isolated from the membrane 31. In yet another alternative embodiment, the plunger 41 may be doped or otherwise incorporated into the membrane 31 such that the membrane 31 is directly manipulated by the solenoid 21 without the need for the plunger 41. In yet another alternative embodiment, the plunger 41 is hollow and filled with a polymeric magnetic material.

Fig. 19 is a flowchart describing the grabbing method 201. First, the solenoid 21 is activated 221. Thereby, the plunger 41 and/or the membrane 31 is activated 222 due to the magnetic field of the solenoid 21. Thus, the object 91 is gripped 223.

In another method 202 as shown in fig. 20, the film 31 is in direct contact with the object 91 in a first step 231. In a second step 232, a gripping force, such as friction or electro-adhesion, of the membrane 31 as explained before, provides a clamping force to the object 91. The solenoid 21 is then activated to increase or generate additional clamping forces 233, such as friction and suction. Thus, the object 91 is gripped 234.

The drawings illustrate various embodiments that can be used in the practice of the invention. In fig. 1, the solenoid 21, the plunger 41, and the film 31 are used to grasp an object 91. Fig. 21 shows a flow chart 203 of a method of clamping an object. In a first step 241 the object 91 is moved, after which it is brought into contact with the holding means as shown in step 242. The solenoid 21 is then activated 243 and the plunger 41 is moved away from the object 91 due to the interaction with the solenoid 21. Based on the roughness and porosity of the object, a seal may be formed between the object 91 and the membrane 31 by moving the plunger 41 through the solenoid 21, thereby forming a suction chamber. The film 31 can grasp 244 the object 91 through the suction chamber and/or other forces applied to the object 91 by the gripping device 100.

In an alternative embodiment as shown in fig. 22, a flow chart 204 of a method of gripping an object 91 is shown, wherein the solenoid 21 is moved 251 towards the object 91 and the gripping device is brought into contact with the object 91 as in step 252. The solenoid 21 is then activated 253 and the gripping force of the membrane 31 and/or suction chamber can grasp 254 the object 91.

In another alternative embodiment, solenoid 21 causes the membrane to deform by manipulating plunger 41. In another embodiment, the plunger 41 is positioned on the axis of the solenoid 21.

In another alternative embodiment, as shown in fig. 1 and 18, the clamping device 100 includes a solenoid 21, a membrane 31, and a plunger 41. The plunger 41 is located near the center of the membrane 31 or near the center of the membrane 31. The solenoid 21 and the membrane 31 may be connected together via connectors having different shapes and materials. Such connectors may have a protruding or indented shape. This may facilitate the conforming of the film 31 to the object to be grasped. Fig. 29 shows an example of a clamping device 143, in which a connector 171 is attached to the membrane 36. Such a connector 171 may be secured to the solenoid 23 or other part of the chamber 53 or holder.

In more detail, still referring to fig. 1 and 18, the solenoid 21 may be designed to grasp a particular object, and thus may be sized according to the object being moved. In this case, the solenoid 21 has a cylindrical shape. The wire may have different diameters and different numbers of turns, depending on design requirements, thereby defining the inner diameter, outer diameter and length of the solenoid 21. The membrane 21 is attached adjacent to the solenoid 21 at its edge by any adhesive material, such as epoxy, or the membrane may be cured when it has been in contact with the solenoid 21. The membrane 21 shown in fig. 1 is attached to one end of the solenoid 21, but the membrane 31 does not necessarily need to be connected to the end of the solenoid 21; in other words, it may also be connected in the middle of the solenoid 21, or even positioned between two solenoids. The plunger 41 in this embodiment is attached to the membrane 31 using any material that can be bonded to the membrane 31. The plunger 41 may also be embedded in the membrane 31. The proportion of the plunger 41 relative to the solenoid 21 is important and needs to be selected according to the size and weight of the object to be gripped.

Referring now to fig. 2, another version of the clamping device 101 is shown, in which the solenoid 21, the membrane 31 and the plunger 42, the plunger 42 being attached to the membrane 31 in the form of small particles. The plunger 42 may also be embedded in the membrane 31. For example, the membrane 31 may be composed of a polymer doped with ferromagnetic or magnetic particles. Fig. 28 shows a film 35 with embedded particles 47.

Referring now to fig. 3, another version of the clamping device 108 is shown in which there is a solenoid 23 and a membrane 31, and with a plunger 43, the plunger 43 being a stack of a plurality of single plungers. Any number of components may be stacked together to form the plunger 43 so that its length may be varied as desired. For example, if the plunger 43 is magnetized, then by adding more to the stack we can increase the final clamping force because the plunger 43 can be attracted or repelled by the solenoid 23. Thus, the gripping strength of the gripping device 108 may be increased or decreased depending on the object it is gripping without requiring significant changes to the design.

In another embodiment as shown in fig. 4, the clamping device 109 has a solenoid 24 attached to the solenoid 25 in series or in parallel, depending on design requirements. In the present embodiment, the membrane 31 is located between the two solenoids 24 and 25. The position of the membrane 31 helps to position the plunger 41 in a desired position for better gripping of the object 91. In general, the size and position of the plunger 41 relative to the solenoid 21 is an important design factor in achieving the desired clamping strength at the desired location. The magnetic fields of the solenoids 24 and 25 interacting with the plunger 41 vary depending on the position of the plunger 41 with respect to the entire solenoid 21.

In another embodiment as shown in fig. 5, the holding device 102 has a chamber 20, and the solenoid 21 surrounds the chamber 20. The chamber 20 may be of different forms to better assist in the clamping process. In one example, the chamber 51 is in the shape of a cylinder attached with a semi-ring, as shown in fig. 5. Indeed, by making the membrane 32 possible to further cover more of the surface area of the object, the different shape of the gripping means enables to facilitate gripping of the object, also helping to guide the object towards the axis of the solenoid 21. The chamber 51 may also change the position of the plunger 41 relative to the solenoid 21 by having an additional half ring at the bottom thereof, thereby displacing the membrane 32. For example, it may place the plunger 41 further away from the solenoid 21, thereby creating a stronger magnetic field when it is in a position where a greater clamping force is required. In other words, when an object approaches the solenoid 21, the plunger 41 is positioned in a stronger magnetic field inside the solenoid 21.

In another embodiment as shown in fig. 6, there is a holder 103 with a tapered chamber 52, wherein the solenoid 22 is wrapped around the holder 103 in the same fashion. This conical form of the chamber 52 has different advantages. For example, as the object is grasped and moved further up the axis of the solenoid 22, it may further increase the clamping force by decreasing the inner diameter of the solenoid 22. This embodiment can increase the magnetic force affecting the plunger 41 depending on the relative size of the plunger 41 with respect to the solenoid 22, since the distance from the plunger 41 to the solenoid 22 decreases as the plunger 41 moves further upward along the axis of the solenoid 22, although the sizes of the plunger 41 and the solenoid 22 remain the same in this embodiment.

In another embodiment as shown in fig. 7, the clamping device 104 has a solenoid 22 surrounding a chamber 53, one end of the chamber 53 being attached to a pressurized gas or fluid line. In this embodiment, when gripping an object, the plunger 41 may be pulled or attracted upward by the solenoid 22, and pressurized gas or fluid may push the plunger 41 open to release the gripped object. Thus, the object may have a tighter and stronger fit in the chamber 53, since the force of the pressurized gas or liquid is sufficient to resist the plunger 41, depending on the application.

In another embodiment as shown in fig. 8, the holding device 105 has a solenoid 23, a membrane 32 and a plunger 41. In this embodiment, a membrane 32 having a frustoconical shape is used. This form of the membrane 32 allows more flexibility in grasping objects. For example, the surface area of the membrane 32 is greater than in the previous embodiment. In other words, the membrane 32 is stretched to a lesser extent when the object 91 is gripped and moved within the solenoid 21. Therefore, the holding force required to hold the object 91 or the magnetic force required to hold the plunger 41 in the solenoid 21 is small. Most of the magnetic force in this embodiment is used to hold the plunger 41 in the solenoid 23 and thus the object 91 in the gripping position, ideally without the use of force to compensate for the stress caused by the membrane 32 being stretched.

In another embodiment as shown in fig. 9, the clamping device 106 consists of the solenoid 23, the membrane 33 and the plunger 41. In this case, the membrane 33 has a variable thickness. It serves to better control the stretch ratio in different areas of the film 33. In other words, a thinner region will stretch more than a thicker portion with the same stress applied to the membrane 33. This idea also helps to obtain a better suction force to grip the object 91, as shown in fig. 17, which will be explained in more detail in another embodiment.

In another embodiment as shown in fig. 10, the holding device 107 is composed of the solenoid 23, the membrane 31, the plunger 41, the chamber 54 and the lock 61. In this configuration, the solenoid 23 surrounds the chamber 54, and one end of the chamber 54 has a bracket for holding the latch 61. The lock 61 may be in the form of any device capable of locking the plunger 41. For example, it may be a solid piece made of ferromagnetic or magnetic material, or it may even be a detent mechanism that can be activated or deactivated to attract the plunger 41. The lock 61 can reduce power consumption of the clamp device 107. The lock may also lock the plunger 41 in the solenoid 23 when the object is gripped by the gripping device 107, thereby reducing the magnetic force required by the solenoid 23.

In another alternative embodiment, the plunger 41 may be pulled by the solenoid 23 and then the solenoid power is turned off, and the lock 61 locks the position of the plunger 41 while holding the object. Then, to release the plunger 41 and thus the object 91, the polarity of the solenoid 23 may be reversed to push out and release the object 91. In this example, the plunger 41 may be magnetic, so by reversing the polarity of the solenoid 23, the plunger 41 may be pushed or pulled in the solenoid 23.

In another embodiment as shown in fig. 11, the clamping device 110 has a solenoid 23 that surrounds a chamber 55, the chamber 55 including a set of sensors 71. These sensors 71 may be used, for example, to detect a gripped object 91, to measure environmental properties such as pressure and temperature, or to act as a trigger for another device. These sensors may be based on infrared light or other principles.

The coil has an electrical resistance and generates a magnetic field, so that the coil generates heat when activated, particularly when the coil is continuously activated. Thus, the cooling device may be used to cool the temperature of the solenoid for better performance and lifetime. Fig. 12-14 illustrate an embodiment of incorporating a cooling device into the clamping device to reduce the temperature of the solenoid. For example, FIG. 12 shows a clamping device 111 having a cooling device 81 wrapped around the solenoid 23. The cooling means 81 may be in the form of a hollow tube into which a cooling liquid or gas is passed to remove heat from the solenoid 23. The cooling device 81 may also be made of an electrically conductive material and may also be used as a second solenoid in series or parallel with the solenoid 23.

Referring now to fig. 13, the clamping device 112 also has another solenoid 26 that surrounds the cooling device 81. In this embodiment, the cooling device 81 not only cools the solenoids 23 and 26, but also can be connected in series or in parallel with the solenoids 23 and 26 as the solenoids themselves. In another embodiment shown in fig. 14, the clamping device 113 has a cooling device 82, the cooling device 82 being a cylinder covering the solenoid 23. In this embodiment, the cooling device 82 has a large surface area and can dissipate heat by liquid or air cooling. For example, to better perform air cooling, the cooling device 82 may also have fins around its circumference and a fan at the top to blow cooling air into between the fins and to expel heat from the other end.

In another embodiment as shown in fig. 15, the clamping device 114 has three solenoids 26-28. The chamber 56 is configured to have the solenoids 26-28 branch around it. For example, solenoids 26-28 may be used to better control the direction of movement of plunger 41. The solenoids 26-28 may be completely different from each other, depending on design requirements. They may also be connected to the controller individually or in series or parallel. Although fig. 15 includes three solenoids, the number of solenoids may be greater or lesser, and the positions of the solenoids may be arranged differently depending on the application. In another embodiment as shown in fig. 16, the clamping device 115 is shown with a plunger 44 around the solenoid 29. In this embodiment, a magnetic field around the outside of the solenoid 29 interacts with the plunger 44 to induce the membrane 31 to provide a clamping or attractive force.

In another embodiment as shown in fig. 17, a gripping device 116 is shown gripping an object 91. In this embodiment, the solenoid 23 pulls the plunger 41 higher than the object 91. Thereby creating suction between the film 31 and the object 91. Thus, not only is the surface texture and friction between the film 31 and the object 91 clamping the object 91, but the suction cavity created between the object 91 and the film 31 also increases the clamping force. The object 91 need not necessarily be around the object but may have a different shape. For example, if the object 91 is flat, the suction force generated may have a large influence on the gripping strength. In this embodiment, the suction is caused by the ratio between the initial volume and the final volume of the cavity between the object 91 and the membrane 31. The initial volume is considered to be the volume when the membrane 31 just hits the object 91. Such an initial volume may be zero. The final volume is the volume of the suction chamber shown in fig. 17.

In more detail, still referring to fig. 17, the inhalation intensity may also be increased or decreased by changing design properties. For example, the magnetic field of the solenoid 21 may be reduced or increased to position the plunger 41 lower or higher, respectively, to reduce or increase the suction cavity generated. In another example, the membrane 33 may have a variable thickness as shown in fig. 9. One example is to increase the thickness of the membrane 33 in the portion where the suction chamber is located. This extra thickness may cause the film 33 to stretch less in this portion, which will change the volume ratio of the suction chamber created. Thus, the membrane 33 may have a variable thickness, and the shape of the membrane 33 may be frustoconical, oblate, a combination thereof, or any other shape. In other words, different shapes of the membrane 33 may influence the size of the suction cavity generated.

Advantages of the present invention include, but are not limited to, its simplicity, speed, versatility, size, and ability to grasp a variety of objects, including delicate objects, objects having different shapes and made of different materials and surface finishes. It is a fast acting gripper since its main actuation is based on a solenoid 21. The present invention also allows the use of suction to hold the object without the need for a separate vacuum line. This design also minimizes the amount of mechanical wear. In addition, the device can be easily mounted on an industrial robot and moved in a narrow space.

In another embodiment as shown in fig. 23, another version of a clamping device 117 is shown. The gripper 117 has a rod 121 attached to a plunger 41, which plunger 41 is fixed to the membrane 31. The plunger 41 and the rod 121 may be a single element. The plunger 41 and the rod 121 may have different shapes and orientations. The gripper 117 may have a cover 131. The cover 131 may have a shape that restricts the movement of the rod 121. For example, the cover 131 may have a groove in the center of the bobbin of the solenoid 21 to guide the rod 121. The cover 131 may be made of single or multiple parts and materials. The cover 131 may be part of a chamber that seals the membrane 31 so that gas or fluid may be contained within the chamber and the membrane 31.

In another embodiment as shown in fig. 24, a holder 118 is shown in which a cap 132 has holes to expose the air inside the coil 21 to ambient pressure. The pores may have different shapes or may be replaced by a porous material.

In another embodiment as shown in fig. 25, a gripper 119 is shown. The plunger 45 may be of different sizes and shapes. For example, the plunger 45 shown in fig. 25 has an elongated shape. It is noted that the film 32 may be loose, as shown in fig. 25, and such a loose film 32 may further facilitate the film itself to conform to the shape of the object. As shown in fig. 26, the holder 141 may have a cover 131. The plunger 45 can move under the restriction of the groove of the cover 131.

In another embodiment as shown in fig. 27, a gripper 142 is shown holding the object 92. The object 92 may have any shape and orientation. As shown in fig. 27, the film 34 is shaped around the object 92 following the contour of the object 92, and a suction chamber 151 is formed between the object 92 and the film 34. The formation of the suction cavity 151 and the shaping of the film 34 around the object 92 to follow the contours of the object 92 both assist in gripping the object 92. As previously mentioned, the plunger 41 may have different shapes. Fig. 27 shows an example of the plunger 46 having a tapered shape.

In a broad embodiment, the present invention consists of at least one solenoid 21, at least one plunger 41 and at least one membrane 31. The interaction between the solenoid 21, plunger 41 and membrane 31 is such that the membrane 31 provides a clamping or attractive force.

In a broad embodiment, the invention includes a method of grasping an object 91 using at least one solenoid 21, at least one plunger 41, and at least one membrane 31.

Although the foregoing description contains specific details regarding certain elements, dimensions, and other teachings, it should be understood that embodiments of the present invention or any combination of these embodiments may be practiced without these specific details. In particular, although certain materials and shapes are specified in the above embodiments, any suitable material or shape may be used. These details are merely examples of presently preferred embodiments and should not be construed as limiting the scope of any embodiments. In other instances, well-known structures, elements, and techniques have not been shown in detail in order not to obscure the understanding of this description.

The above detailed description of embodiments of the invention is not intended to be exhaustive or to limit the invention to the precise form disclosed above or to the particular field of use mentioned in this disclosure. While specific embodiments of, and examples for, the invention are described above for illustrative purposes, various equivalent modifications are possible within the scope of the invention, as those skilled in the relevant art will recognize. Further, the teachings of the invention provided herein may be applied to other systems, not necessarily the systems described above. The elements and acts of the various embodiments described above can be combined to provide further embodiments.

The present invention may be modified in accordance with the above-described "detailed description". While the foregoing specification details certain embodiments of the invention and describes the best mode contemplated, no matter how detailed the above appears in text, the invention can be practiced in many ways. Accordingly, implementation details may vary considerably while still being encompassed by the invention disclosed herein. As noted above, particular terminology used when describing certain features or aspects of the invention should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the invention with which that terminology is associated.

While certain aspects of the invention are presented below in certain claim forms, the inventors contemplate the various aspects of the invention in any number of claim forms. Accordingly, the inventors reserve the right to add additional claims after filing the application to pursue such additional claim forms for other aspects of the invention.