Eletroadhesive gripping system with smart brake and metering

• US 9,987,755 B2
• Filed: 03/17/2015
• Issued: 06/05/2018
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Grabit LLC
• Original Assignee: Grabit, Inc.
• Inventors: Prahlad, Harsha, Duncheon, Charlie, Annen, Steve, Leettola, Matthew, Smith, Jonathan Andrew, Roy, Bobby Neil
• Primary Examiner(s): Singh, Kavel
• Application Number:
  US15/126,709
• Publication Number:
  US 20170087728A1
• Time in Patent Office: 1,176 Days
• Field of Search: None
• CPC Class Codes: B25J 15/0085 with means for applying an electrostatic force on the object to be gripped
• CPC Class Codes: B65G 13/075 Braking means

Abstract

A system utilizes electroadhesive surfaces for braking and metering objects in an automated environment. An electroadhesive surface can include electrodes that are configured to induce an electrostatic attraction with nearby objects upon application of voltage to the electrodes. The systems described utilize various configurations of electroadhesive surfaces, sensors, controllers and programmable processors to create smart braking, capturing and metering systems for improved automated material handling.

Claims

1. A system for metering a flow of a plurality of objects, the system comprising:

an electroadhesive surface including a plurality of electrodes configured to apply electroadhesive force;

a controller configured to meter the flow of the plurality of objects across the electroadhesive surface by applying a voltage to one or more select electrodes of the plurality of electrodes that are in proximity to one or more objects of the plurality of objects, wherein a controller output to apply the voltage to the one or more select electrodes is triggered by object detection data from one or more of;

(i) a sensor detecting a presence of the one or more objects;

(ii) a control system which informs one or more of a measured weight, size, or other property of the one or more objects;

(iii) a rate of movement of the one or more objects or a different set of the plurality of objects;

or

(iv) an acceleration of movement of the one or more objects or the different set of the plurality of objects; and

a processor configured to;

receive the object detection data, and output electroadhesive force application instructions to the controller based on the detection data, thereby metering the flow of the plurality of objects across the electroadhesive surface.

2. The system of claim 1, wherein when the controller is configured to apply the voltage when the plurality of objects is in contact with the electroadhesive surface.

3. The system of claim 1, wherein the processor comprises flow control instructions based on a second sensor, a flow plan, or a user input.

4. The system of claim 1, wherein the processor comprises flow control instructions and electroadhesive surface instructions based on the flow control instructions;

wherein the controller is configured to meter the flow of the plurality of objects by applying the voltage to the one or more electrodes when a first object of the plurality of objects is in contact with the electroadhesive surface based on instruction from the processor; and

wherein the sensor is configured to;

detect the presence of one or more objects;

detect a rate of movement of the object;

detect an acceleration of movement of the object, and

output object detection data to the processor.

5. The system of claim 1, wherein the sensor is configured to detect the presence an object or a second object, a rate of movement of the object or the second object, or an acceleration of movement of the object or the second object;

wherein the controller is configured to decelerate the object by applying a voltage to a first electrode of the one or more electrodes when the object is in contact with the electroadhesive surface based on the sensor detection; and

wherein the object continues moving relative to the electroadhesive surface despite deceleration.

6. The system of claim 1, wherein the sensor comprises:

an optical sensor,

a weight sensor,

a speed sensor,

an acceleration sensor,

a proximity sensor,

a touch sensor,

a laser sensor,

a RFID sensor,

an UV sensor,

an Infrared sensor, or

a radar sensor.

7. The system of claim 1, wherein the sensor is configured to determine:

the presence of the object,

the presence of the second object,

the presence of stacked or layered objects,

the number of objects in a stack,

the size of the object,

the shape of the object,

the weight of the object,

the speed of the object,

the acceleration or deceleration of the object, or

the acceleration or deceleration of the second object.

8. The system of claim 1, wherein the electroadhesive surface is flexible, has a low coefficient of friction when there is no voltage applied, or comprises one or more of:

a pad,

a curtain,

a flap,

a strip,

chute,

a slide,

a roller,

a carousel,

a door,

an arm,

a partition,

a step,

a platform,

a table,

an undulating surface,

a decline surface, or

an incline surface.

9. The system of claim 1, further comprising:

a movable substrate; and

a fixed substrate,

wherein the fixed substrate has an electrostatic potential that is different from an electrostatic potential of the movable substrate;

wherein the electroadhesive surface shifts between a same electrostatic potential as the movable substrate and a different electrostatic potential as the movable substrate; and

wherein a velocity of the movable substrate is controlled by electroadhesion to the electroadhesive surface.

10. The system of claim 9, wherein the electroadhesive surface shifts at least twice between the same electrostatic potential as the movable substrate and the different electrostatic potential as the movable substrate.

11. The system of claim 9, wherein the electroadhesive surface shifts between electrostatic attraction to the movable substrate and electrostatic attraction to the fixed substrate;

and

wherein the electroadhesive surface moves independently from the fixed substrate during the electrostatic attraction to the movable substrate.

12. The system of claim 9, wherein the second substrate is substantially at rest and the velocity of the first substrate is decreased intermittently.

13. The system of claim 9, wherein the movable substrate is one or more of a planar movable substrate, a curved movable substrate, a brake roller, or a metallic brake roller.

14. The system of claim 9, wherein the movable substrate maintains an electrostatic potential equal to ground potential.

15. The system of claim 9, wherein the fixed substrate is one or more of a planar fixed substrate, a curved fixed substrate, a fixed bed, a cupped brake housing, a molded material, or one or more electrostatic conductive regions.

16. The system of claim 9, wherein the electroadhesive surface comprises ground potential or bipolar electrostatic potential.

17. The system of claim 16, wherein the bipolar electrostatic potential comprises a region of positive polarity and a region of negative polarity.

18. The system of claim 9, wherein a velocity of the object contacting the movable substrate is controlled by electroadhesion.

19. The system claim 9, wherein the system is utilized as one or more of a roller brake, a braking system, or a roller conveyer.

20. The system of claim 9, further comprising an optical sensor, wherein the optical sensor measures one or more features of the object comprising a weight of the object, a velocity of the object, or an acceleration of the object, or combinations thereof.