Systems and methods for providing vacuum valve assemblies for end effectors

Abstract

An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

What is claimed is: 
     
         1 - 20 . (canceled) 
     
     
         21 . A vacuum control system for providing dynamic vacuum to an end-effector on an articulated arm, said vacuum control system comprising:
 a first vacuum source for providing first vacuum pressure at the end-effector of at least about 90,000 Pascals below atmospheric, said first vacuum source being selectively coupled to the end-effector via a selection unit; and   a second vacuum source for providing second vacuum pressure at the end-effector of no more than about 50,000 Pascals below atmospheric, said second vacuum source being selectively coupled to the end-effector via the selection unit;   wherein the end-effector includes a compliant pad with at least one opening through which any of the first vacuum pressure and the second vacuum pressure is selectively applied by the selection unit.   
     
     
         22 . The vacuum control system of  claim 21 , wherein the first vacuum source includes an air compressor. 
     
     
         23 . The vacuum control system of  claim 21 , wherein the first vacuum source includes an ejector. 
     
     
         24 . The vacuum control system of  claim 21 , wherein the second vacuum source includes a blower. 
     
     
         25 . The vacuum control system of  claim 21 , wherein the first vacuum source has a maximum air flow rate of five cubic feet per minute. 
     
     
         26 . The vacuum control system of  claim 21 , wherein herein the second vacuum source has an air flow rate of at least about one hundred cubic feet per minute. 
     
     
         27 . The vacuum control system of  claim 21 , wherein the selection unit is further selectively coupled to a release source. 
     
     
         28 . The vacuum control system of  claim 21 , wherein the selection unit is further selectively coupled to atmosphere. 
     
     
         29 . The vacuum control system of  claim 21 , wherein the selection unit includes a solenoid valve. 
     
     
         30 . A vacuum control system for providing dynamic vacuum to an end-effector on an articulated arm, said vacuum control system comprising:
 a first vacuum source for providing first vacuum pressure at the end-effector with a maximum air flow rate of five cubic feet per minute, said first vacuum source being selectively coupled to the end-effector via a selection unit; and   a second vacuum source for providing second vacuum pressure at the end-effector with an air flow rate of at least about 100 cubic feet per minute, said second vacuum source being selectively coupled to the end-effector via the selection unit;   wherein the end-effector includes a compliant pad with at least one opening through which any of the first vacuum pressure and the second vacuum pressure is selectively applied by the selection unit.   
     
     
         31 . The vacuum control system of  claim 30 , wherein the first vacuum source includes an air compressor. 
     
     
         32 . The vacuum control system of  claim 30 , wherein the first vacuum source includes an ejector. 
     
     
         33 . The vacuum control system of  claim 30 , wherein the second vacuum source includes a blower. 
     
     
         34 . The vacuum control system of  claim 30 , wherein the first vacuum source has a first vacuum pressure of at least about 90,000 Pascals below atmospheric. 
     
     
         35 . The vacuum control system of  claim 30 , wherein the second vacuum source has a second vacuum pressure of no more than about 50,000 Pascals below atmospheric. 
     
     
         36 . The vacuum control system of  claim 30 , wherein the selection unit is further selectively coupled to a release source. 
     
     
         37 . The vacuum control system of  claim 30 , wherein the selection unit is further selectively coupled to atmosphere. 
     
     
         38 . The vacuum control system of  claim 30 , wherein the selection unit includes a solenoid valve. 
     
     
         39 . A method of providing vacuum control to an end-effector of an articulated arm, said method comprising:
 providing a first vacuum source coupled to a selection unit, the selection unit being in communication with the end-effector;   providing a second vacuum source coupled to the selection unit;   selecting between the first vacuum source and the second vacuum source to provide at the end-effector any of
 i) a first vacuum pressure from the first vacuum source, the first vacuum pressure at the end-effector being at least about 90,000 Pascals below atmospheric, and 
 ii) a second vacuum pressure from the second vacuum source, the second vacuum pressure at the end-effector being no more than about 50,000 Pascals below atmospheric. 
   
     
     
         40 . The method of  claim 39 , wherein the first vacuum source includes an air compressor. 
     
     
         41 . The method of  claim 39 , wherein the first vacuum source includes an ejector. 
     
     
         42 . The method of  claim 39 , wherein the second vacuum source includes a blower. 
     
     
         43 . The method of  claim 39 , wherein the first vacuum source has a maximum air flow rate of five cubic feet per minute. 
     
     
         44 . The method of  claim 39 , wherein herein the second vacuum source has an air flow rate of at least about one hundred cubic feet per minute. 
     
     
         45 . The method of  claim 39 , wherein the method further includes selecting a release source to be in communication with the end-effector. 
     
     
         46 . The method of  claim 45 , wherein the release source is coupled to atmosphere. 
     
     
         47 . The method of  claim 39 , wherein the selecting the release source includes actuating a solenoid valve.