RU2842772C2 - Portable vacuum gripper - Google Patents

Abstract

FIELD: transportation.

SUBSTANCE: invention relates to hoisting devices. Vacuum gripper for gripping object surface by vacuum suction can be carried or operated with lifting mechanism. To provide for the possibility of long-term vacuum creation, battery energy saving facilities are included, as well as manual recharging mechanism. Manually controlled vacuum pump is also included in the vacuum gripper as protection in case of failure of the battery-powered vacuum pump. Vacuum gripper includes an elastically deformable vacuum seal for gripping objects with irregular surfaces, as well as support rods or a group of pins configured to assist the vacuum seal in filling any gaps between the vacuum seal and the surface of the object.

EFFECT: device is improved to ensure a tighter grip of products.

19 cl, 98 dwg

Description

This patent application claims priority to U.S. Provisional Patent Application No. 63/176,890, filed April 20, 2021, entitled Portable vacuum gripper, by the same inventors, which is incorporated herein by reference in its entirety.

Prerequisites for the creation of an invention

Suction devices such as vacuum grippers can be used to grasp flat objects for vacuum lifting. Suction devices may include vacuum cups, which use a partial vacuum, such as air pressure below atmospheric pressure, to force the suction device to adhere to the flat object. Vacuum grippers typically require a seal between the surface of the vacuum gripper and the contact surface on the object.

Fig. 1A-1B show examples of prior art vacuum grippers. In Fig. 1A, the vacuum gripper 100 includes a vacuum seal 130, for example a flexible material such as rubber, which can contact the surface of the object to provide a seal with the surface of the object. The vacuum gripper 100 further includes a handle 110 for holding the vacuum gripper.

Fig. 1B shows another configuration of the vacuum gripper 100*, which includes two vacuum seals 130 connected by a handle 110. The vacuum gripper 100* also includes manual actuators for creating a vacuum under the vacuum seals 130.

Brief description of embodiments

In some embodiments, the present invention describes a vacuum gripper for gripping the surface of an object using vacuum suction. The vacuum gripper is a portable vacuum gripper, for example, having a handle for carrying by a person, with or without attachment to the object. Using the handle, the portable vacuum gripper can be used for manual carrying of small objects. In addition, the portable vacuum gripper has a plurality of hooking elements configured to be connected to cables having hooking ends. Using the hooking elements, the portable vacuum gripper can be used to lift large objects.

The vacuum gripper is designed to safely transport objects, provides long-term vacuum generation using a controller that regulates the air removal mechanism to save and maximize battery power. The vacuum gripper is additionally equipped with safety components to prevent vacuum loss during the transportation of an object by the vacuum gripper. The safety components include a recharging mechanism for recharging the battery on site, for example using a portable power supply or using a built-in power generator. The safety components include a hand-held vacuum pump to create the necessary vacuum suction in the event of a malfunction of the battery-powered vacuum pump.

The vacuum gripper is equipped with an elastically deformable vacuum seal to grip objects with uneven surfaces, such as rough surfaces or surfaces with steps, grooves or convexities. The deformable vacuum seal can be compressible and stretchable to fit the uneven surface of objects.

In some embodiments, the vacuum gripper includes a base element configured to open the upper portions of the vacuum seal to facilitate the compliance of the vacuum seal with the surface of the object. For example, a stop rod can be used to press the upper regions of the vacuum seal in places where the vacuum seal forms gaps with the surface of the object. When the stop rod presses the upper side of the vacuum seal, the lower side of the vacuum seal can protrude to fill the gaps.

The vacuum seal is designed to transfer material, such as a projection on the lower side, when the upper side is pressed. For example, a flexible layer with a higher hardness can be located on the compressible layer of the vacuum seal, which can improve the transfer of material to fill the gap when pressed. Alternatively, a multi-layer compressible seal can be used with the upper part having a higher hardness than the lower part.

The vacuum gripper may have a stop rod configured to be stored in the vacuum gripper that can be used to press on the vacuum seal to improve conformity with the surface of the object.

In some embodiments, the vacuum gripper includes a group of movable pins located on the vacuum seal at the periphery of the vacuum gripper. The pins of the group of pins can be pressed to push the vacuum seal toward the surface of the object to fill gaps between the vacuum seal and the surface of the object.

Brief description of graphic materials

Fig. 1A-1B show examples of prior art vacuum grippers.

Fig. 2A-2G show a configuration of a portable vacuum gripper according to some embodiments.

Fig. 3 is an exploded view of components of a portable vacuum gripper according to some embodiments.

Fig. 4A-4B show block diagrams of the formation of a portable vacuum gripper according to some embodiments.

Figs. 5A-5C show block diagrams of the operation of a portable vacuum gripper according to some embodiments.

Fig. 6A-6B show a configuration for lifting an object using a vacuum gripper according to some embodiments.

Fig. 7A-7B show block diagrams of the operation of a vacuum gripper according to some embodiments.

Fig. 8A-8B show a vacuum seal configuration in a portable vacuum gripper according to some embodiments.

Fig. 9A-9B show a vacuum seal configuration according to some embodiments.

Fig. 10A-10B show a multi-layer vacuum seal configuration according to some embodiments.

Figs. 11A-11B illustrate a progressively variable composite vacuum seal according to some embodiments.

Fig. 12A-12B show a vacuum seal with a flexible bottom layer according to some embodiments.

Fig. 13A-13B show a vacuum seal configuration according to some embodiments.

Fig. 14A-14B illustrate the formation of a vacuum gripper in accordance with some embodiments.

Figs. 15A-15I show vacuum seal configurations according to some embodiments.

Fig. 16 shows a process for forming a vacuum seal in accordance with some embodiments.

Figs. 17A-17D are block diagrams of the formation and operation of a vacuum seal in a portable vacuum gripper according to some embodiments.

Figs. 18A-18C show configurations for localized pressing of a vacuum seal according to some embodiments.

Fig. 19A-19C show a configuration of a flexible support for a flexible layer according to some embodiments.

Figs. 20A-20B illustrate the formation and operation of a flexible support according to some embodiments.

Fig. 21A-21C show a configuration of a vacuum gripper having base openings according to some embodiments.

Fig. 22 shows a block diagram of the formation of a vacuum gripper with openings according to some embodiments.

Fig. 23 shows the operation of a vacuum gripper with holes in accordance with some embodiments.

Figs. 24A-24E show connection configurations between a base member and a flexible layer according to some embodiments.

Fig. 25 shows a process for forming a vacuum gripper in accordance with some embodiments.

Figs. 26A-26H show vacuum seal configurations according to some embodiments.

Figs. 27A-27I show vacuum seal configurations according to some embodiments.

Fig. 28 shows a process for forming a vacuum gripper in accordance with some embodiments.

Figs. 29A-29B illustrate a portable vacuum gripper having components for deforming a seal according to some embodiments.

Figs. 30A-30D show configurations of components for deforming a seal according to some embodiments.

Figs. 31A-31B show configurations of components for deforming a seal according to some embodiments.

Fig. 32 shows a process for forming a vacuum gripper having a plurality of pins, in accordance with some embodiments.

Figs. 33A-33D are block diagrams of the operation of components for deforming a seal in a portable vacuum gripper according to some embodiments.

Detailed description of embodiments

In some embodiments, the present invention describes a portable vacuum gripper using suction for lifting objects. The portable vacuum gripper may include a housing having a cavity for creating a vacuum, for example, the air pressure inside the cavity is lower than atmospheric pressure. The vacuum gripper is configured to grip an object on the surface of the object using the vacuum created in the cavity. The housing of the portable vacuum gripper may have components configured to provide lifting, such as a handle for manual lifting, or one or more hook elements for lifting the object using attached cables.

The vacuum gripper has a large surface area to increase suction and a small volume cavity for fast response, such as a quick pressure reduction. In addition, the vacuum gripper is designed to be able to connect with uneven surfaces due to the presence of a vacuum seal, which is designed to better match the uneven surfaces. In addition, the vacuum gripper is equipped with energy-saving means for long-term use, such as a controller for adjusting the vacuum pump to reduce battery consumption, as well as manual recharging or recharging with a portable battery to extend the operation of the vacuum gripper when the battery is discharged.

The portable vacuum gripper may include a seal extending along the periphery of the cavity for sealing with the surface of the object. Using deformable materials, such as highly elastic deformable, for example at least substantially returning to the original shape after deformation, including compressibility and extensibility characteristics, for the element - a vacuum seal, the portable vacuum gripper can be used on uneven surfaces of objects, such as non-smooth surfaces, including rough surfaces, surfaces with steps or surfaces with grooves while maintaining the vacuum level.

A portable vacuum gripper may include a vacuum generation system, such as an air removal mechanism, such as a vacuum pump using a motor driven by a power source, such as a battery. A controller may be included for controlling the vacuum pump, such as for automatically maintaining a vacuum level in the cavity. For example, the controller may be configured to turn off or slow down the vacuum pump when the vacuum level reaches a predetermined level, such as when the pressure in the cavity decreases to a predetermined pressure level. The controller may be configured to turn on or speed up the vacuum pump when the vacuum level drops below a predetermined level, such as the pressure in the cavity is above a predetermined pressure level. In addition, a pressure sensor may be included to provide a visual indication of the vacuum level, such as the pressure in the cavity below atmospheric, indicating the vacuum level.

As used herein, the term "vacuum level" is used to mean "a pressure level below atmospheric pressure" and thus can be used interchangeably with the term "pressure level" because a vacuum is a medium in which there is less air than the atmosphere, and thus a vacuum level is a pressure level that is lower than atmospheric pressure. In particular, a vacuum level is a pressure level below atmospheric pressure, and a pressure level can be a pressure level below, similar to, or higher than atmospheric pressure.

In some embodiments, the portable vacuum gripper may include a manual charging system for charging a battery. For example, the manual charging system may include a motor configured to generate voltage when manually rotated using a handle. The manual charging system may include a portable battery that can be connected to the battery of the vacuum gripper to charge the battery. The manual charging system can ensure that the portable vacuum gripper has energy to maintain a vacuum level, such as when the vacuum gripper grips an object to lift it. In this way, the manual charging system can extend the gripping capacity of the vacuum gripper by supplying power to the battery to at least complete the gripping and lifting operation.

In some embodiments, the vacuum gripper may have a battery alarm to alert the operator to a potential battery problem, such as a low battery level. The alarm may be an audible signal, or a flashing light, or a light indicator.

In some embodiments, the portable vacuum gripper may include a manual pump system for pumping air from the cavity, for example, to maintain a vacuum level. For example, the manual pump system may include a piston-cylinder configuration in which an operator can press a piston to pump air from the cavity. The manual pump system can ensure that the portable vacuum gripper can maintain a vacuum level, for example by the operator pumping the manual pump when the battery is discharged and when the vacuum level decreases, for example, the pressure is above a predetermined pressure level due to, for example, a gradual air leak. The manual pump system can ensure that the portable vacuum gripper can maintain a vacuum level, for example when the vacuum gripper grips an object to lift it. In this way, the manual pump system can extend the gripping ability of the vacuum gripper by manually removing air from the cavity to maintain a vacuum level in the cavity to at least complete the gripping and lifting work. A hand pump system can be an alternative or supplement to a hand charging system that can assist the vacuum gripper in the absence of a portable battery.

In some embodiments, the vacuum gripper may have a vacuum alarm to alert the operator of a potential problem with the vacuum level in the cavity, such as a high pressure level in the cavity. The high pressure level for the alarm may be lower than the pressure level for turning on the vacuum pump, which may provide the operator with sufficient time to resolve the problem. The vacuum alarm may be associated with a battery alarm, such as the vacuum alarm being turned off when there is sufficient energy in the battery, since the vacuum pump can restore the vacuum level in the cavity. The vacuum alarm may be turned on to alert the operator only in the event of a missing battery.

In some embodiments, the portable vacuum gripper may include components configured to selectively press on portions of the vacuum seal. For example, when sealing a stepped surface, the components may apply force to a region of the surface of a lower step and to the vicinity of the step to ensure that the vacuum seal contacts the stepped surface without gaps or with minimal gaps, for example to minimize air leakage. The components may include a pressure pocket located along the length of the vacuum seal that can press on areas of the seal located on the surface of the areas of the lower step. The components may include a group of pins located along the length of the vacuum seal so that the operator can selectively press on individual pins to form a complete seal.

General configuration of vacuum gripper

In some embodiments, the portable vacuum gripper may include a housing or base element for accommodating a motor-driven vacuum pump with a battery and a hand vacuum pump, as well as a handle for holding the gripper, means for installing a pressure sensor and a vacuum release button. The portable vacuum gripper may include a seal extending along the periphery of the housing for sealing the vacuum between the gripper and the object.

Fig. 2A-2G show a configuration of a portable vacuum gripper according to some embodiments. Fig. 2A shows a perspective view of a portable vacuum gripper 200, a top view showing a housing or base 211 of the gripper, as well as other components such as a motor-driven pump 220, a hand pump 221, a gripper handle 210 in which a battery is located, and a manual vacuum release button 212. There are other components such as a power switch 220A for turning on or off the motor-driven pump 220, hook elements 226 for connecting to lifting cables and a pressure sensor 223 for monitoring the pressure or vacuum level in the cavity. The pressure sensor can detect correct or incorrect operations of the vacuum gripper, for example by demonstrating the vacuum level in the cavity. For a vacuum level below the indicator mark on the pressure sensor, the vacuum gripper has sufficient vacuum suction to hold and lift the object. For vacuum levels above the indicator mark, the vacuum gripper does not have sufficient vacuum suction. It is necessary to perform an inspection of the vacuum gripper, such as checking for proper sealing with the surface of the object, or for wear and tear of the element - the vacuum seal.

Fig. 2B is a perspective view of the portable vacuum gripper 200, viewed from below, showing the seal 230 surrounding the cavity 215.

In operation, the portable vacuum gripper can be positioned on the surface of the object to be lifted, with the seal 230 in contact with the surface of the object. The vacuum pump can be activated, such as by turning on a motor-driven vacuum pump or manually pumping a hand-held vacuum pump, to remove air from the cavity 215 to form a vacuum in the cavity 215, such as to create a pressure level in the cavity that is less than the atmospheric pressure of the external environment. The vacuum cavity can create a suction force to adhere the portable vacuum gripper to the object. Sectional views along lines AA and BB are discussed in the following sections.

In general, the vacuum gripper 200 can include a rigid base element 211 and a loop-shaped element - a vacuum seal 230. The sealing element 230 is attached to the base element at least indirectly. The sealing element 230 is elastically deformable, for example, compressible when pressed and stretchable when irregularities are detected on the surface of the object, to match the surface of the object. The vacuum level in the cavity can be created by an air removal mechanism, such as a vacuum pump driven by a motor, for example a pump configured to remove gas from the cavity.

The vacuum seal element 230 may surround the periphery of the base element 211. In some embodiments, the vacuum seal element may be smaller than the base element, so that there is a protruding portion of the base element extending from the vacuum seal element.

Fig. 2C shows a cross-section according to section A-A through the middle of the portable vacuum gripper, and Fig. 2D shows a cross-section according to section B-B through a portion near the edge of the portable vacuum gripper.

The portable vacuum gripper 200 may include a housing 211, which may include a handle 210 on a portion of the housing. The handle 210 may be configured to accommodate a motor-driven pump 220 and a hand pump 221 on both sides and to accommodate a battery 222 in a portion of the handle. The housing 211 may be configured to accommodate a manual vacuum release button 212, a pressure sensor 223 and a controller 224 for maintaining a vacuum level in the cavity 215. A manual charging system 213 may be included for manual charging of the battery. The manual charging system may include a motor having a handle for rotating the motor shaft. The motor output may be connected to a circuit that is connected to a battery 222 to generate a suitable voltage for charging the battery 222. A battery charger connector 222A may be provided for charging the battery, for example, for charging using a portable power source, such as a portable battery.

The vacuum seal 220 can be connected to the lower part of the housing, for example, to the periphery of the lower surface of the portable vacuum gripper. In general, the vacuum seal 220 can have a loop-shaped seal, such as a ring. In operation, the vacuum seal can be located on the surface of the object to form a closed cavity 215. The vacuum seal can be made of a compressible and stretchable material to ensure the adhesion of the portable vacuum gripper to objects having an uneven surface, such as a rough surface, a stepped surface, a corrugated surface or a surface having cracks or grooves.

The portable vacuum gripper may include sealing stoppers or filler 214 located in the cavity in the lower part of the portable vacuum gripper. The sealing stopper 214 may be configured to stop the compression of the vacuum seal 220, for example, due to the presence of an incompressible material or a material less compressible than the vacuum seal. The sealing stopper may also be designed as a filler for the cavity, for example, to reduce the volume of the cavity without changing the surface area of contact of the cavity with the surface of the object. The sealing stopper may be designed with a minimum surface area facing the surface of the object, for example, with channels along the area of the lower surface. Thus, when the vacuum seal is compressed under the action of the vacuum force, the compression of the vacuum seal is stopped at the sealing stopper 214.

Fig. 2E shows a cross-section through the middle of the portable vacuum gripper. Fig. 2F shows a cross-section through the hand pump. Fig. 2G shows a cross-section through the motor-driven pump of the portable vacuum gripper.

The portable vacuum gripper 200 may include a housing 211, which may include a handle 210 having a U-shape for accommodating a motor-driven pump 220, a hand pump 221 and a battery 222. A vacuum seal 220 may be connected to the lower part of the housing 211.

The hand vacuum pump may be configured to remove air in the cavity of the portable vacuum gripper. The pumping action may include pressing the pump button 221A, wherein the spring 221B is configured to return the pump button to its original position. In this way, the air in the cavity may be removed by repeatedly pressing the pump button to form a vacuum cavity.

The motor-driven pump 220 can be connected to the battery 222 via a power switch 220A, which can be used to manually turn the motor-driven pump on or off. The motor-driven pump can also be controlled by a controller (not shown) to regulate the vacuum level in the cavity. The motor-driven pump can include a two-position motor, for example, the motor can be on or off, or an adjustable motor, for example, the motor can have an adjustable speed.

The portable vacuum gripper may include a pressure sensor to monitor the vacuum level in the cavity, such as a pressure level below atmospheric pressure. The portable vacuum gripper may include a manual vacuum release button that may be connected to the seal, in an exhaust line. When the manual vacuum release button is pressed, the seal opens to allow air to enter the cavity, whereby the pressure in the cavity increases, such as with a decrease in the vacuum level. When the manual vacuum release button is released, a spring may push the button back to re-engage the seal to stop the flow of air.

Exploded View

Fig. 3 shows an exploded view of the components of a portable vacuum gripper according to some embodiments. The portable vacuum gripper 300 may include a base plate 1, which, as shown, is a rectangular plate having rounded corners. The lower side of the base plate 1 may be hollow, having grooves for receiving a vacuum seal 21 and other seals. The base plate 1 may have reinforcing ribs. The upper side of the base plate 1 may have fastening ribs for connecting with the handle 2 and 3 and other components, such as the base plate 23. The base plate 1 may be made of lightweight materials, such as plastic or fiberglass. The base plate may be connected to the handle and the base plate by means of screws 19, 20 with a sealing ring 16. A vacuum sensor 15 may be provided on the base plate.

The portable vacuum gripper 300 may include a handle made of 2 parts 3 and 4, having a U-shape, and they can be assembled together using screws 12. A hollow area is provided inside the handle for accommodating a battery, a pump 5 with a motor drive, a hand pump and a controller board 35. A door for access to the battery may be provided. A button 29 for releasing the vacuum and a button 11 for removing air using the pump 5 with a motor drive are provided on the handle. The handle can be connected to the base plate using screws 7. A spring 14, a sealing ring 13 and an air blocker 30 can be provided in the vacuum release button 29. The base plate 23 can be configured to fasten the hook elements 17 for working with an object connected to the portable vacuum gripper.

In some embodiments, the vacuum gripper includes an air removal mechanism configured to remove air (or gas) from the cavity between the surface of the object and the vacuum gripper to create a vacuum that can connect the object to the vacuum gripper. The air removal mechanism may include an air pump, such as a motor, configured to move air from the cavity to the outside environment. Other devices may be used, such as an impeller or a compressed air vacuum generator using a Venturi nozzle.

The motor-driven air pump may be configured to operate in a controlled manner, such as gradually decreasing power or intermittently, to conserve energy, such as to extend the gripping ability of the vacuum gripper so that the vacuum gripper does not lose its grip when holding, lifting or moving an object. For example, a pressure sensor associated with the controller may be included to monitor pressure, such as the vacuum level or vacuum pressure, or the rate of change of pressure in the cavity.

In the intermittent or pulse mode, when the cavity pressure is below the first set working pressure level or when the cavity pressure reaches a steady state, for example, as indicated by a low pressure change rate, for example, the change rate is below the first set working change rate level, the motor-driven pump stops. When the cavity pressure exceeds the second set working pressure level or when the pressure change rate exceeds the second set working change rate level, the motor-driven pump starts working again.

In the step-by-step mode of operation, the power supplied to the motor-driven pump may depend on the controlled vacuum pressure. When the vacuum pressure is high, such as a low vacuum level, the motor-driven pump can operate at full power to quickly reduce the pressure. When the cavity pressure is below the first set working pressure level or when the rate of change is below the first set working rate of change level, the motor-driven pump can operate at minimum power, such as enough power to maintain the vacuum level or maintain the rate of change of the vacuum pressure.

In some embodiments, the air removal unit includes a motor-driven pump, a battery for powering the motor-driven pump, a pressure sensor for detecting a pressure level in the cavity, and a controller programmed to control the motor-driven pump based on the pressure level detected by the pressure sensor. The controller is programmed to save energy, such as reducing the energy consumption of the motor-driven pump to a minimum level.

The vacuum gripper may also include a switch button, such as for turning on or off a vacuum pump. In addition, the vacuum gripper may optionally include a reset button for introducing air into the cavity to release the vacuum to remove the object from the vacuum gripper. The vacuum gripper may also optionally include a pressure sensor for monitoring the vacuum pressure and a battery sensor for monitoring the battery charge level.

In some embodiments, the vacuum gripper is configured to provide a fail-safe vacuum force state, so that the vacuum gripper can safely lift and deliver an object without sudden loss of vacuum. The vacuum gripper may have a vacuum pump energy saving mechanism controlled by a controller based on the pressure measured by a pressure sensor. The vacuum pump may receive energy from a battery to maintain the vacuum suction force on the object.

In some embodiments, the vacuum gripper includes an alarm configured to alert the operator of the vacuum gripper condition. For example, the alarm may be a low battery signal, which may include an audible signal, a flashing signal, or a constant light signal to notify the operator of the low battery condition. The operator can then manually charge the battery to ensure that the vacuum gripper can have sufficient vacuum force to complete the current work. For example, the vacuum gripper can be used to hold a panel for transporting it to a destination. During transport, the low battery signal can generate an alarm so that the operator can manually charge the battery for the vacuum gripper to complete the transport of the panel without losing vacuum.

The manual battery recharging may include an external power bank, such as a portable battery, configured to charge the vacuum gripper battery. The operator may connect a charger in the form of a portable battery to the vacuum gripper battery to charge it. In an alternative or additional embodiment, the manual battery recharging may include a hand generator, such as a crank motor, connected to the vacuum gripper battery. The motor may be rotated by rotating the crank to generate voltage for charging the battery. The low battery signal may be an early alarm, such as configured to sound an audible signal when there is still enough power left to operate the motor-driven pump for some time, such as 10-20 minutes, which may provide sufficient time for the operator to operate the manual charging system.

The alarm may be a low vacuum alarm, such as when the cavity pressure is above a preset alarm pressure level. In general, the alarm is generated when the motor-driven pump is unable to reduce the cavity pressure, such as when the battery powering the pump has no power or when the motor-driven pump is faulty.

The operator can then manually correct the emergency error to ensure that the vacuum gripper can have enough vacuum power to complete the current job. For example, in the case of low vacuum due to low battery power, the operator can use manual battery charging, such as connecting a portable battery charger or rotating the crank to generate power to recharge the battery.

The vacuum gripper may include a hand vacuum pump in parallel with the motor-driven pump. Thus, in the event of a failure of the motor-driven pump, the operator can use the hand vacuum pump to restore the vacuum level. The operator can repeatedly use the hand vacuum pump to maintain the vacuum level in the cavity until the vacuum gripper has completed the current work, for example, to complete the transport of a panel held by the vacuum suction of the vacuum gripper.

In some embodiments, the vacuum gripper is a portable vacuum gripper, for example having a power source, such as a battery for powering a motor-driven vacuum pump. The motor-driven pump and the battery can be placed in a handle connected to the base element of the vacuum gripper, forming a compact structure. A hand pump or a recharger of a motor-driven battery can also be placed in the handle. For example, the handle can include a handle rod connected to two connecting rods. The motor-driven pump and the hand pump can be located in the connecting rods with simple and short access to the air removal cavity. The battery for powering the motor-driven pump can be located in the handle rod. The controller and an optional recharger of the motor-driven battery can also be placed in a part of the handle rod or in the connecting rods.

In some embodiments, the vacuum gripper may include a filler material inside the cavity to reduce the volume of the cavity for a rapid pumping action. The filler material may be connected to the lower side of the base member. The filler material may also function as a sealing stopper, such as stopping the sealing material from being overly compressed. The filler material may include rigid materials to ensure the structural integrity of the base member. The filler material is also configured to not affect the vacuum region, such as the contact region between the vacuum seal element and the surface of the object.

In some embodiments, the vacuum seal may be made of a flexible material, such as a ring of soft elastomer, silicone, rubber, closed-cell foam or compressed thin-walled rubber tubes. The vacuum seal material may include a cellular or granular material, such as rubber and plastic materials coated with a thin protective layer. The vacuum seal material may be selected in such a way that the vacuum seal may be elastically deformable to ensure that the lower surface of the seal complies with the surface of the object. For example, when pressed against a stepped surface, the seal may be compressed to a greater extent on the area of the higher step. In addition, the seal may stretch at the corner of the step, wherein the seal may flow around the contour of the step to fit tightly against the stepped surface.

In some embodiments, the elastically deformable material of the vacuum seal element may include flexible, compressible and stretchable materials such as silicone, rubber or silicone or rubber closed-cell foams. The deformable materials are flexible enough to conform to an uneven surface, such as one with steps and grooves or a rough surface. Closed-cell foams may be very compressible to conform to surface irregularities. In addition, the closed-cell foam may have high resilience, such as being able to return or spring back to its original shape when the compressive load is removed.

In some embodiments, the elastically deformable material may include a pneumatic or hydraulic element that includes an outer layer of a flexible and stretchable material, such as silicone or rubber, and that has a cavity filled with a fluid, such as air. The pressure in the cavity of the pneumatic or hydraulic element can be adjustable to optimize it to match the element - a vacuum seal with a non-smooth surface of the object.

Formation of a vacuum gripper

Fig. 4A-4B show block diagrams of forming a portable vacuum gripper according to some embodiments. In Fig. 4A, operation 400 forms a vacuum gripper for gripping a surface of an object. The vacuum gripper includes a base member, a vacuum seal member in the form of a closed loop connected to the surface of the base member to form a cavity when in contact with the surface of the object, and a vacuum pump connected to the base member and in fluid communication with the cavity for removing air in the cavity.

In Fig. 4B, operation 420 forms a vacuum gripper for gripping a surface of an object. The vacuum gripper includes a base member, a closed-loop vacuum seal member connected to the surface of the base member to form a cavity when in contact with the surface of the object, a vacuum pump connected to the base member and in fluid communication with the cavity to remove air in the cavity, a battery for supplying energy to the vacuum pump, a release mechanism for supplying air to the cavity, a manual charger for manually recharging the battery, a manual pump for manually removing air in the cavity, a handle connected to the base member, a battery sensor for monitoring the battery charge level, a pressure sensor for monitoring the pressure in the cavity, hook elements connected to the base member for lifting the vacuum gripper with the object, and a controller for regulating the vacuum pump to maintain a desired pressure in the cavity and to notify about low battery charge levels. Some elements may be optional.

In some embodiments, a vacuum gripper may be formed to grip the surface of an object. The vacuum gripper includes a base element. The base element may be a plate that may serve as a housing for the vacuum gripper. For example, a vacuum seal element may be connected to one side of the base element, such as the lower side facing the object. A handle in which an air removal mechanism is located may be connected to the opposite side of the base element, such as the upper side facing the operator. Other components may be mounted on the base element, such as a pressure sensor indicator, as well as hook elements for connecting the vacuum gripper to a lifting cable.

The vacuum gripper includes a vacuum seal element connected directly or indirectly to the base element. For example, the vacuum seal element can be connected directly to the base element, for example, using an adhesive. The vacuum seal element can be connected indirectly to the base element, for example, through a flexible layer, also using an adhesive. The vacuum seal element is designed with the possibility of forming a vacuum cavity with the base element and the surface of the object. The vacuum seal element can be located along the periphery of the base element to increase the surface area of contact with the surface of the object.

The vacuum sealing element may include an elastically deformable material with a deformability characteristic used to conform to the surfaces of uneven surfaces of objects, such as rough surfaces or surfaces with grooves or steps. The deformable sealing element may stretch and compress to follow changes in the surface of the object so that an appropriate vacuum level can be created in the cavity.

The vacuum gripper includes an air removal mechanism connected to the upper side of the base member and in fluid communication with the cavity. The air removal mechanism is configured to remove gas, such as air, from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper. The air removal mechanism may include a motor configured to pump air from the cavity, such as an air pump driven by a motor. The air removal mechanism may include another system configured to remove air from the cavity, such as an impeller or a high-flow Venturi design. The air removal mechanism may be located in the handle, for example, a hollow handle may be connected to the base member, wherein the air removal mechanism is located inside the hollow part of the handle.

The vacuum gripper includes a power source configured to power an air removal mechanism. The power source may be a battery, such as a rechargeable battery. The power source may be housed in a handle that accommodates a motor-driven pump. For example, the handle may be C-shaped, with a middle portion parallel to the base element and connected to two rods perpendicular to the base element at two ends of the middle portion. The middle portion and the two end rods are hollow to accommodate the air removal mechanism, for example, the end rod is configured to accommodate a motor-driven pump, and the middle portion is configured to accommodate a battery. The battery may be a rechargeable battery, wherein the connector is configured to receive a charger, such as a portable charger, to charge the battery on site, for example, without the need for a power outlet.

The vacuum gripper includes a controller configured to regulate the air removal mechanism. The power regulation can be configured to save energy, for example to prolong the creation of a vacuum in the cavity, so that the vacuum gripper can hold and transport a load for a longer time. With intermittent power regulation, the controller is configured to turn off the air removal mechanism when the pressure level in the cavity reaches a predetermined pressure level or when the rate of pressure decrease in the cavity reaches a predetermined level. The controller is also configured to turn on the air removal mechanism when the pressure level in the cavity is below the predetermined pressure level. Alternatively, the power regulation can use a motor with adjustable power for a motor-driven pump, for example the motor-driven pump can operate at different power levels, such as full power for maximum air removal or lower power for reducing the air removal ability. The controller can control the operation of the adjustable motor based on the cavity pressure, for example in the case of higher power when the cavity pressure or the rate of pressure change are high, and reduced power when the cavity pressure or the rate of pressure change is low. When the pressure reaches a steady state, such as when the rate of pressure change is small, the controller can control the motor operation based on the power sufficient to compensate for the pressure loss in order to maintain the correct vacuum level in the cavity.

The vacuum gripper includes an alarm signal configured to provide an alarm signal when the battery power level is below a predetermined value for the battery or when the pressure level in the cavity exceeds a predetermined pressure value. The alarm signal can warn the operator of the need for servicing the vacuum gripper, especially when operating the vacuum gripper, such as holding and lifting or transporting an object.

The vacuum gripper includes a manual mechanism configured to maintain the operation of the vacuum gripper, such as to eliminate the cause of the alarm, to reset the alarm and to maintain the operation of the vacuum gripper. In the event of a low battery alarm, the manual mechanism may include an external portable power source or a built-in power generator for charging the battery. For example, the manual mechanism may be configured to charge the power source from an external power source by an operator using a portable power source to connect to the battery to charge it. The manual mechanism may be configured to manually charge the battery by an operator using a manual charging mechanism, such as a manual generator.

In the event of a low vacuum alarm, such as high pressure in a vacuum gripper cavity, the manual mechanism may include an integrated hand pump configured to remove gas from the cavity to reduce the pressure level by an operator using the hand pump to evacuate air from the cavity.

The vacuum gripper may also include other components such as an air release mechanism connected to the base element and in fluid communication with the cavity for releasing gas or air from the cavity when it is activated, hook elements connected to the base element and configured to be connected to a lifting mechanism for lifting an object, and a lower flexible layer connected to the lower part of the vacuum seal element, such as the surface of the vacuum seal facing the surface of the object, configured to extend the service life of the vacuum seal element due to a material that is more wear-resistant or more abrasion-resistant than the vacuum seal element.

Operation

Fig. 5A-5C show flow charts of operation of a portable vacuum gripper according to some embodiments. In operation, the portable vacuum gripper is moved to a position in the middle region of an object to be transported, such as a panel. The portable vacuum gripper is then pushed so that a vacuum seal is compressed on the surface of the object. A motor-driven pump is turned on to create a vacuum in the cavity between the portable vacuum gripper and the surface of the object. The motor-driven pump is turned on until the pressure sensor drops to a predetermined vacuum level. The portable vacuum gripper can be lifted, for example by holding the handle or by attaching to the hook elements on the portable vacuum gripper.

After transporting the object to the desired location, the vacuum release button can be pressed to allow air to enter the cavity, such as releasing the vacuum pressure. The portable vacuum gripper and the object can be separated. In the event of a discharged battery, a hand vacuum pump can be used to remove air. Alternatively, a manual charging system can be used to recharge the battery.

In Fig. 5A, operation 500 includes a motor for creating a vacuum seal for the portable vacuum gripper until a vacuum level is reached. Operation 510 includes a motor that is automatically turned on when the pressure is below the vacuum level. The motor may be automatically turned on and off to maintain the vacuum level.

In Fig. 5B, operation 530 includes a motor for creating a vacuum seal for a portable vacuum gripper. In operation 540, a hand pump is manually pumped to create a vacuum or to maintain a vacuum when the battery is discharged.

In Fig. 5C, operation 560 includes turning on a motor to create a vacuum seal for a portable vacuum gripper. In operation 570, a charging system is manually turned on to charge a battery for the motor when the battery is discharged.

Hook elements

In some embodiments, the vacuum gripper may include hook elements for converting the vacuum gripper from a gripper for manual handling into a gripper for moving with a lifting mechanism. The vacuum gripper has a handle configured to manually carry an object connected with the vacuum gripper by means of a vacuum. The vacuum gripper also has one or more hook elements that are configured to be connected to cables from a lifting mechanism, such as an overhead crane, to ensure lifting and transporting the object. The hook elements may have a loop shape, such as a ring or an open hook, for attaching to a cable having a hook end. Other configurations may be used, such as a rod connected at both ends to the vacuum gripper, or a pin having a through hole.

Fig. 6A-6B show a configuration for lifting an object using a vacuum gripper according to some embodiments. In Fig. 6A, a vacuum gripper 600 is located on an object, such as a flat panel 601. A motor-driven pump is turned on, for example, by pressing a vacuum on/off button 620A. When the vacuum pressure is stable, the vacuum gripper 602 is attached to the panel 601. The vacuum gripper 600 has a plurality of hooking elements 620 in the form of flat rings located around the vacuum gripper.

In Fig. 6B, cables 628 having a hook end are connected to hook elements 626. The other ends of the cables can be connected to a lifting mechanism that can apply a lifting force 603 to lift the panel.

Fig. 7A-7B show flow charts of operation of a vacuum gripper according to some embodiments. Fig. 7A shows a process for mechanically transporting an object, such as a panel, using a vacuum gripper. In operation 700, the vacuum gripper is placed on the surface of the panel. In operation 710, a vacuum pump in the vacuum gripper is turned on to attach the vacuum gripper to the panel. In operation 720, the engagement between the vacuum gripper and the panel is checked when the pressure sensor in the vacuum gripper indicates a suitable pressure level. In operation 730, cables having hook ends are connected to hook elements of the vacuum gripper. In operation 740, the cables are raised to move the panel.

Fig. 7B shows the process of releasing the vacuum gripper after the completion of the transportation. In operation 750, the cables connected to the hooking elements of the vacuum gripper are lowered so that the panel connected to the vacuum gripper rests on the support. In operation 760, the vacuum pump in the vacuum gripper is turned off. In operation 770, the panel is released from the vacuum gripper by passing air into the vacuum connection between the vacuum gripper and the panel. In operation 780, the cables are disconnected by removing the hooking ends from the hooking elements of the vacuum gripper.

Elastic deformable element - vacuum seal

In some embodiments, the portable vacuum gripper may include an element - a vacuum seal in the form of a closed loop for sealing the lower surface of the portable vacuum gripper with the surface of the object to be transported. The vacuum seal may be made of a single material or may be made in the form of composite materials or layers.

Fig. 8A-8B show a configuration of a vacuum seal in a portable vacuum gripper according to some embodiments. Fig. 8A(a) shows a perspective view of a portable vacuum gripper 800, a top view, which shows a vacuum seal 830 together with a gripper body 811 for accommodating a motor-driven pump 820, a hand pump 821 and a handle 810. Fig. 8A(b) shows a perspective view of a vacuum seal 830 in the form of a closed loop. The vacuum seal can have a cross-sectional shape of a rounded rectangle having a width sufficient to obtain a seal and having a thickness sufficient to work with uneven surfaces of objects. For example, the thickness of the seal can be greater than a non-uniform change in an uneven surface, for example greater than the depth of a groove on an uneven surface or greater than the height of a step on an uneven surface.

In some embodiments, the vacuum seal may be made of a compressible and stretchable material. Fig. 8B(a) shows the response of the vacuum seal 831 to the compression force 840A. The vacuum seal 831 is compressed under the action of the compression force 840A. The compression ratio may be up to 70%, for example, it is possible to compress by an amount less than 10%, less than 20%, less than 30%, less than 40%, less than 50%, less than 60% or less than 70% of the original thickness.

Fig. 8B(b) shows the response of the vacuum seal 831 to the tensile force 840B. The vacuum seal 831 is stretched under the action of the tensile force 840B. The stretch ratio can be up to 40%, for example, it is possible to stretch by an additional amount of less than 10%, less than 20%, less than 30%, or less than 40% of the original width.

Single layer element - vacuum seal

Fig. 9A-9B show a configuration of a vacuum seal according to some embodiments. In Fig. 9A, the vacuum seal 930 may have a solid configuration, such as a solid material 931. The vacuum seal may include a flexible, such as compressible and stretchable, material 931, such as rubber or an elastomer. Due to the compressible and stretchable nature of the flexible material 931, the vacuum seal 931 can conform to ribbed or stepped or uneven surface areas.

In Fig. 9B(a), the portable vacuum gripper 900 can be placed on a stepped surface of an object. The portable vacuum gripper 900 can include a vacuum seal 930 connected to a body 911 of the portable vacuum gripper 900. The portable vacuum gripper 900 can be pushed downwards to create a seal between the vacuum seal and the stepped surface. In addition, a motor-driven vacuum pump can be included to create a vacuum in the cavity under the portable vacuum gripper.

In Fig. 9B(b), the vacuum seal can be compressed along the thickness of the seal by creating a vacuum in the cavity of the portable vacuum gripper. The direction of compression is perpendicular to the surface of the object, so the vacuum seal is compressed more (931*) at a higher stage and is compressed less (931**) at a lower stage of the stepped surface.

In addition, at the step corner, the vacuum seal material can be stretched by the lateral force 955 to fill the step corner so that the vacuum seal conforms to the step surface to ensure good sealing with the step surface. In this way, the vacuum seal can be used to form a consistent seal with uneven surfaces of objects, such as step surfaces, grooved surfaces or rough surfaces.

Due to an uneven surface, such as a step, a greater contact force 956A with the surface of the object can be provided at a higher part of the step, compared to a weak contact force 956B with the surface of the object at a lower part of the step. The difference in forces can lead to different adhesion to the surface of the object, with a stronger adhesion provided at a section of a higher step and a weaker adhesion at a section of a lower step.

Multilayer discrete element - vacuum seal

To reduce the difference in forces, a multilayer element - a vacuum seal - can be used. The multilayer seal element can include different layers that have different elastic deformation characteristics, such as higher compressibility and higher extensibility in the lower layers compared to the upper layers.

Fig. 10A-10B show a multilayer configuration of a vacuum seal according to some embodiments. The vacuum seal may be a composite seal, for example having a plurality of layers 1031, 1035 and 1036 with different characteristics. In Fig. 10A(a), the layers may have different compressibility characteristics, for example, they may compress more or less under the same compressive force. For example, layers 1031, 1035 and 1036 may have the same thickness and be subjected to the same compressive force. Layer 1031 may compress the most to become a very thin layer 1031*. Layer 1035 may compress less to become a thin layer 1035*. Layer 1036 may compress the least to become a thicker layer 1036*.

In Fig. 10A(b), the layers may have different stretch characteristics, such as being able to stretch more or less under the same stretching force. For example, layers 1031, 1035, and 1036 may have the same thickness and be subjected to the same stretching force. Layer 1031 may stretch the most to become a very long layer 1031**. Layer 1035 may stretch less to become a long layer 1035**. Layer 1036 may stretch the least to become a shorter layer 1036**.

In Fig. 10B(a), the portable vacuum gripper 1000 may include a vacuum seal 1030 connected to the body 1011 of the portable vacuum gripper 1000. The vacuum seal 1030 may include a plurality of layers 1031, 1035 and 1036, each of which has different compressibility and extensibility characteristics. In addition, the more compressible and extensible layer 1031 may be thicker than the less compressible and extensible layer 1035 and 1036.

The portable vacuum gripper 1000 can be placed on a stepped surface of an object. The portable vacuum gripper 1000 can be pushed downwards to create a seal between the vacuum seal and the stepped surface. In addition, a motor-driven vacuum pump can be turned on to create a vacuum in the cavity under the portable vacuum gripper.

In Fig. 10B(b), the vacuum seal can be compressed along the thickness of the seal by creating a vacuum in the cavity of the portable vacuum gripper. The direction of compression is perpendicular to the surface of the object, so that the vacuum seal is compressed more than 1031*/1035*/1036* at a higher stage, and is also compressed less than 1031**/1035**/1036** at a lower stage of the stepped surface. The more compressible and stretchable layers 1031 and 1035 bend more strongly compared to the less compressible and stretchable layers 1035 and 1036, respectively.

In addition, at the step corner, the vacuum seal material can be stretched by the lateral force 1055 to fill the step corner so that the vacuum seal conforms to the step surface to ensure good sealing with the step surface. In this way, the vacuum seal can be used to form a consistent seal with uneven surfaces of objects, such as step surfaces, grooved surfaces or rough surfaces.

Due to the multi-layer seal, an average high force of 1056A* contact with the surface of the object on the higher part of the step can be ensured, compared to an average low force of 1056B* contact with the surface of the object on the lower part of the step. For corresponding values of the layer thickness in a multi-layer seal, the difference in forces can be smaller compared to a single-layer seal.

Composite seal with gradually changing elastic deformation characteristics

To further reduce the difference in forces, an element - a vacuum seal with gradually changing elastic deformation characteristics can be used. The gradually changing seal element can include a composite layer with continuously or gradually changing elastic deformation characteristics.

Fig. 11A-11B show a gradually changing composite vacuum seal according to some embodiments. The vacuum seal may be a gradually changing composite seal, such as having gradually changing elastic deformation characteristics. In Fig. 11A, the composite layer 1160 may have gradually changing compressibility characteristics. The composite layer 1160 may compress more (1160A) under a large force and may compress less (1160B) under a smaller force.

In Fig. 11B(a), the portable vacuum gripper 1100 may include a vacuum seal 1130 connected to the body 1111 of the portable vacuum gripper 1100. The vacuum seal 1130 may include a gradually changing composite layer 1160.

The portable vacuum gripper 1100 can be placed on a stepped surface of an object. The portable vacuum gripper 1100 can be pushed down to create a seal between the vacuum seal and the stepped surface. In addition, a motor-driven vacuum pump can be turned on to create a vacuum in the cavity under the portable vacuum gripper.

In Fig. 11B(b), the vacuum seal can be compressed across the thickness of the seal by creating a vacuum in the cavity of the portable vacuum gripper.

In addition, at the corner of the step, the vacuum seal material can be stretched by the lateral force 1155 to fill the corner of the step so that the vacuum seal corresponds to the stepped surface to ensure good sealing with the stepped surface. Due to the gradually changing composite seal, a slightly greater contact force 1156A** with the surface of the object at the higher part of the step can be provided, compared with a slightly weak contact force 1156B** with the surface of the object at the lower part of the step, which can create a similar pressure 1157B on the surface of the object. For a corresponding change in the elastic deformability characteristics, the difference in forces can be smaller compared to a single-layer seal.

Flexible layer at the bottom

In some embodiments of the invention, a wear-resistant layer may be located under the vacuum seal to protect the vacuum seal, particularly when the vacuum seal includes foam. The wear-resistant layer may be thin and flexible, such as stretchable, to follow the contour of the surface of the object.

Fig. 12A-12B show a vacuum seal with a flexible bottom layer according to some embodiments. The vacuum seal can be an elastically deformable seal 1231, such as a single-layer seal, a multi-layer seal, or a progressively changing composite seal. In Fig. 12A, the vacuum seal includes a compressible layer 1231 connected to a flexible layer 1261. The compressible layer 1231 can be an elastically deformable layer, such as compressible and stretchable. For example, under the action of a compressive force, the compressible layer 1231 can be compressed into a compressed layer 1231*. The flexible layer can be thin and flexible, such as stretchable. For example, when meeting a step, the flexible layer 1261 can bend into a curved layer 1261* to conform to the stepped surface of the object.

In Fig. 12B(a), the portable vacuum gripper 1200 may include a vacuum seal 1230 connected to the body 1211 of the portable vacuum gripper 1200. The vacuum seal 1230 may include a compressible layer 1231 connected to a flexible layer 1261.

The portable vacuum gripper 1200 can be placed on the stepped surface of the object. The portable vacuum gripper 1200 can be pushed downwards to create a seal between the vacuum seal and the stepped surface. In addition, a motor-driven vacuum pump can be turned on to create a vacuum in the cavity under the portable vacuum gripper. At the corner of the step, the vacuum seal material can be stretched by the lateral force 1255 to fill the corner of the step so that the vacuum seal matches the stepped surface to ensure good sealing with the stepped surface.

In Fig. 12B(b), the vacuum seal can be compressed along the thickness of the seal by creating a vacuum in the cavity of the portable vacuum gripper. The flexible layer may include a more wear-resistant material than the compressible layer, which can extend the service life of the vacuum gripper.

Vacuum seal made of rubber tube

In some embodiments, the vacuum seal may include a pneumatic or hydraulic element, such as a rubber tube. The rubber tube may be compressible and expandable, and may also have a lower flexible rubber layer.

Fig. 13A-13B show a configuration of a vacuum seal according to some embodiments. In Fig. 13A, the vacuum seal 1330 may have a configuration in the form of a tube, for example, having a shell 1332A surrounding an internal gas 1332B. The vacuum seal may include a flexible, for example, compressible and stretchable, shell material 1332A, such as rubber or an elastomer. The vacuum seal may be hollow, for example filled with a gas 1332B, such as air. In addition to the compressible and stretchable nature of the configuration of the vacuum seal in the form of a rubber tube, the air pressure in the region 1332B of the vacuum seal may be configured to match the vacuum seal with grooves or stepped or uneven surface areas.

In Fig. 13B(a), the portable vacuum gripper 1300 can be placed on the surface of the object. The surface can be an irregular surface, for example having a stepped configuration. The stepped surface can be shown with an exaggerated step to illustrate the nature of the seal of the portable vacuum gripper on the stepped surface. The portable vacuum gripper 1300 can include a vacuum seal 1330 connected to the body 1311 of the portable vacuum gripper 1300. Initially, the vacuum seal can touch the stepped surface or can be deformed to some extent under the weight of the portable vacuum gripper.

The portable vacuum gripper 1300 can be pushed downwards to create a seal between the vacuum seal and the stepped surface. In addition, a motor-driven vacuum pump can be turned on to create a vacuum in the cavity under the portable vacuum gripper.

In Fig. 13B(b), the vacuum seal can be compressed along the thickness of the seal by creating a vacuum in the cavity of the portable vacuum gripper. The direction of compression is perpendicular to the surface of the object, so the vacuum seal is compressed more (1332*) at a higher stage and is compressed less (1332**) at a lower stage of the stepped surface.

In addition, at the step corner, the vacuum seal material can be stretched to fill the step corner so that the vacuum seal conforms to the step surface to ensure good sealing with the step surface. In this way, the rubber tube vacuum seal can be used to form a consistent seal with uneven surfaces of objects such as step surfaces, grooved surfaces or rough surfaces.

Fig. 14A-14B show the formation of a vacuum gripper according to some embodiments. In Fig. 14A, operation 1400 forms a vacuum gripper for gripping a surface of an object. The vacuum gripper includes a base member, a vacuum seal member in the form of a closed loop connected to the surface of the base member to form a sealed cavity when in contact with the surface of the object, and a vacuum pump connected to the base member and in fluid communication with the cavity for removing air in the cavity.

The vacuum seal element comprises a compressible material having a gradually changing compressibility characteristic or a plurality of layers with different compressibility characteristics. The gradually changing compressibility characteristic or a plurality of layers with different compressibility characteristics are designed with the possibility of balancing the contact forces on the vacuum seal element with a change in the height of the object surface. The vacuum seal element optionally comprises a flexible layer attached to the surface opposite to the surface of the base element. The flexible layer includes a material that is more resistant to abrasion than the compressible material of the vacuum seal element.

Alternatively, the vacuum sealing element includes a pneumatic or hydraulic element having a flexible layer defining a fluid-filled cavity. The pneumatic or hydraulic element has a fluid-filled cavity pressure optimized for sealing the vacuum sealing element on the surface of an object with a varying height. The vacuum gripper optionally includes a pump mechanism for regulating the fluid-filled cavity pressure.

In Fig. 14B, in operation 1420, a vacuum is created in the cavity of the vacuum gripper after the vacuum gripper is connected to the surface of the panel. In operation 1430, the vacuum gripper is pressed on the areas of the uneven surface of the panel to obtain the desired vacuum level.

Various configurations

Fig. 15A-15I show vacuum seal configurations according to some embodiments. Flexible thin layer 1534 can be located under the vacuum seal or between a plurality of vacuum seals, for example, on the seal 1532A/1532B in the form of a rubber tube, a seal 1531 made of a solid material, a seal 1531-1535-1536 made of a multilayer material, or a seal that has any combination of layers of a rubber tube, a solid material, a multilayer material, or a gradually changing material.

For example, Fig. 15A shows a flexible thin layer 1561 located under a rubber tube seal that has air 1532B under pressure within the rubber wall 1532A. Fig. 15B shows a flexible thin layer 1561 located under a seal that has layers 1536, 1535 and 1531, each of which has a different compressible and stretchable material. Fig. 15C shows a flexible thin layer 1561 located under a seal that has layer 1531. Fig. 15D shows a flexible thin layer 1561A located between a seal that has layers 1535/1531 and a rubber tube seal 1532A/1532B. Fig. 15E shows a flexible thin layer 1561A located between the seal having layer 1531 and the seal 1532A/1532B in the form of a rubber tube. In Fig. 15F shows a flexible thin layer 1561A located between the seal having rubber tube 1532A1 and the seal 1532A in the form of a rubber tube. In Fig. 15G shows a flexible thin layer 1561A located between the seal having rubber tube 1532A and the seal having layers 1535/1531, together with another flexible thin layer 1561 under the seal having layers 1535/1531. In Fig. 15H shows a flexible thin layer 1561 located under a seal having a rubber tube 1532A and a seal having layers 1535/1531. Fig. 15I shows a flexible thin layer 1561A located between two seals having rubber tubes 1532A1 and 1532A, together with another flexible thin layer 1561 under a seal having a rubber tube 1532A.

Fig. 16 shows a process for forming a vacuum seal according to some embodiments. In operation 1600, a vacuum gripper is formed for gripping a surface of an object. The vacuum gripper includes a base element, a vacuum seal element in the form of a closed loop, connected to the surface of the base element to form a sealed cavity when in contact with the surface of the object, and a vacuum pump connected to the base element and in fluid communication with the cavity for removing air in the cavity.

The vacuum seal element comprises a compressible material with a gradually changing compressibility characteristic. The vacuum seal element comprises a compressible material having a plurality of layers with different compressibility characteristics. The vacuum seal element comprises a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a cavity filled with a fluid medium. The vacuum seal element comprises a compressible material on a flexible layer. The vacuum seal element comprises a compressible material having a combination of two or more layers with a gradually changing compressibility characteristic, a plurality of layers with different compressibility characteristics, a pneumatic or hydraulic element having a flexible layer forming a cavity filled with a fluid medium, or a flexible layer.

The layers of the vacuum seal element are optimized for sealing the vacuum seal element on the surface of an object with varying height.

Fig. 17A-17D show block diagrams of the formation and operation of a vacuum seal in a portable vacuum gripper according to some embodiments. The vacuum seals are configured to conform to uneven surfaces, such as stepped surfaces, grooved surfaces, or rough surfaces.

In Fig. 17A, operation 1700 forms a seal for a vacuum gripper. The seal may be configured to compress and stretch. In some embodiments, the seal may include an air pocket, such as an air tube. The seal may include one layer of compressible and stretchable material. The seal may include multiple layers of compressible and stretchable materials of different thicknesses. The seal may include a combination of one or more air tubes and one or more layers of compressible and stretchable materials of different thicknesses.

In Fig. 17B, in operation 1720, the seal of the suction device is pressed against the uneven surface, wherein the seal is compressed more at higher areas of the surface and stretched at lower areas of the surface such that the lower surface of the seal corresponds to the uneven surface.

In Fig. 17C, in operation 1740, the multilayer seal of the suction device is pressed against the uneven surface, wherein the lower layers of the seal are compressed and stretched more than the upper layers such that the lower surface of the seal corresponds to the uneven surface.

In Fig. 17D, in operation 1760, the flexible sealing layer of the suction device is pressed against the uneven surface, wherein the flexible layer is configured to smoothly conform to the uneven surface.

Localized vacuum seal pressure for better fit

In some embodiments, the flexible layer can be located over the vacuum seal element, for example between the base element and the vacuum seal element. The flexible layer can be configured to ensure that the vacuum seal is formed in accordance with the irregularities of the object surface. For example, when pressing the flexible layer, the vacuum seal can protrude on the opposite side to fill any gap with the object surface. Thus, the flexible layer can be configured to deform with a less localized profile than the elastically deformable material during point pressing. Alternatively or additionally, the flexible layer can be configured to protrude to a greater extent on the opposite surface than the elastically deformable material during point pressing. For example, the flexible layer can have a higher hardness than the elastically deformable material of the vacuum seal.

Fig. 18A-18C show configurations for localized pressing on a vacuum seal according to some embodiments. In Fig. 18A, a vacuum seal 1830 may have a flexible layer 1834 on a compressible layer 1831. The vacuum seal 1830 may be connected to a base member 1811. When a compression force is applied to the vacuum gripper, the compressible layer 1831 may be compressed 1831*, and the flexible layer 1834 may bend 1834* on an uneven surface area.

In Fig. 18B(a)-18B(c) the process of improving the conformity of the vacuum seal with the stepped surface of the object is shown. In Fig. 18B(a) the vacuum gripper having the vacuum seal which includes the flexible layer 1834 on the deformable layer 1831 is placed on the surface of the object which contains the step 1862. When placed on the object the vacuum seal can rest on the higher part of the step with a gap relative to the lower part. The force 1840 is applied to the vacuum gripper, it is transmitted to the vacuum seal. The vacuum seal can be deformed to conform to the surface of the object. At a distance from the step the vacuum seal contacts the surface of the object. In the immediate vicinity of the step there can be a gap 1865 between the vacuum seal and the lower corner of the step, in particular if the step has a sharp transition part.

In Fig. 18B(b), the stop bar 1864 is used to press on the flexible layer at the location of the gap 1865, for example using the force 1864* on the stop bar. The deformable layer 1831 can be soft and easily deformed to match the unevenness of the surface of the object. Without the flexible layer 1834, when pressing on the upper side of the soft deformable layer 1831, a local gap can be formed in the area of pressing, but with a minimal effect on the opposite lower side of the deformable layer 1831. The flexible layer 1834 is made of a harder material than the deformable layer 1831, so that pressing on the flexible layer can form a larger gap, which can lead to the movement of the deformable layer 1831 on the surface of the lower side to fill the gap 1865.

In some embodiments, the flexible layer is selected, for example, by the layer thickness, the layer hardness or the layer flexibility, so that the deformable layer can conform to the irregularities of the object surface, for example to fill the gap 1865 on the stepped surface. For example, the flexible layer and the deformable layer are selected so that the force 1864* from the stop rod 1864 can act on the flexible layer and cause the deformable layer to protrude on the opposite surface. The flexible layer can be configured to deform with a less localized profile than the deformable layer during point pressing. Alternatively or additionally, the flexible layer can be configured to form at least a protruding portion on the opposite surface of the deformable layer during point pressing. The stop rod can be pressed at an angle from the vertical direction, for example in a direction pointing to the gap.

As a result, pressing on the stop rod 1864 in the gap region can help to reduce the size of the gap 1865 to ensure sufficient vacuum suction force between the vacuum gripper and the object (Fig. 18B(c)).

In Fig. 18C(a)-18C(c) the process of improving the conformity of the vacuum seal of the surface with the grooves of the object is shown. In Fig. 18C(a) the vacuum gripper is placed on the surface of the object, which contains the groove 1863. When placed on the object, the vacuum seal can rest on the flat part of the surface, with a gap with the groove. The force 1840 is applied to the vacuum gripper, it is transmitted to the vacuum seal. The vacuum seal can be deformed to conform to the surface of the object. For a shallow groove with a gradual transition part, the vacuum seal can conform to the surface of the groove. For a deep groove or a groove with an abrupt transition part, a gap 1865 is possible between the vacuum seal and the bottom of the groove, especially at the lower corners of the groove.

In Fig. 18C(b), the stop bar 1864 is used to press on the flexible layer at the locations of the gap 1865, for example using the force 1864* on the stop bar. The pressing force 1864* can form a larger indentation, which can lead to the movement of the deformable layer 1831 on the surface of the lower side to fill the gap 1865. The stop bar can be pressed in a direction directly towards the gap.

As a result, pressing on the stop rod 1864 in the gap region can help to reduce the size of the gap 1865 to ensure sufficient vacuum suction force between the vacuum gripper and the object (Fig. 18C(c)).

Support for the upper flexible layer

In some embodiments, the flexible layer can be designed to cover only the periphery of the vacuum gripper, for example, it can extend along the vacuum seal element of the vacuum gripper. Alternatively, the flexible layer can also cover the entire surface of the cavity, for example, cover the lower side of the base element. The flexible layer can have a flexible support on the middle part of the flexible layer, for example to ensure rigidity and also flexibility of the vacuum gripper when connecting to an uneven surface of an object.

Fig. 19A-19C show a configuration of a flexible support for a flexible layer according to some embodiments. In Fig. 19A, a vacuum seal 1930 may have a flexible layer 1934 on a compressible layer 1931. The vacuum seal 1930 may be connected to a base member 1911 along the periphery of the base member. The flexible layer may also cover the base member, for example, be located on top of the peripheral vacuum seal, as well as in the middle part of the base member. Thus, a cavity may be formed between the vacuum seal with the flexible layer and the surface of the object.

The flexible layer 1934 may include a flexible support 1967 located within the region surrounded by the compressible layer 1931. The flexible support 1967 is configured to be sufficiently rigid to provide vacuum grip strength and sufficiently flexible to provide bending of the compressible layer when encountering an uneven surface of the object.

Fig. 19B shows a cross-sectional view of the flexible support along the compressible layer together with the surrounding components. The flexible layer and the compressible layer can bend when meeting the stepped surface of the object. Under the action of the stop rod 1964, the lower surface of the compressible layer 1931 is pressed downward until it contacts the stepped surface.

Fig. 19C shows a cross-sectional view of the flexible support in part of the flexible support together with the surrounding components. The flexible support is flexible enough to allow the compressible layer 1931 and the flexible layer 1934 to bend in accordance with the stepped surface of the object. Under the action of the stop rod 1964, the lower surface of the compressible layer 1931 is pressed downward until it contacts the stepped surface.

Formation and operation of flexible support

Fig. 20A-20B show the formation and operation of a flexible support according to some embodiments. In Fig. 20A, operation 2000 forms a vacuum gripper for gripping a surface of an object. The vacuum gripper includes a base member, a vacuum seal member in the form of a closed loop connected to the surface of the base member to form a sealed cavity when in contact with the surface of the object, and a vacuum pump connected to the base member and in fluid communication with the cavity for removing air in the cavity.

The vacuum seal element includes a compressible material, a multilayer compressible material, a composite gradually changing compressible material or a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a cavity filled with a fluid. The vacuum gripper additionally includes a flexible layer located between the base element and the vacuum seal element. The flexible layer is configured to deform on the same surface with a less localized profile than the compressible material under point indentation. The flexible layer is configured to deform on the opposite surface to a greater extent than the compressible material under point indentation, since it has a higher hardness. The flexible layer includes a flexible support in the region inside the vacuum seal element in the form of a closed loop. The vacuum gripper optionally includes a stop rod for pressing on the flexible layer so that the compressible layer can conform to the surface irregularities of the object.

In Fig. 20B, in operation 2020, a vacuum is created in the cavity of the vacuum gripper after the vacuum gripper is connected to the surface of the panel. In operation 2030, individual areas of the vacuum sealing element of the vacuum gripper are pressed, as desired, to match the vacuum sealing element in areas of the uneven surface of the panel.

Vacuum gripper with holes in the base element

In some embodiments, the present invention describes a vacuum gripper having openings in a base member, such as in a vacuum gripper body, for opening a vacuum seal. One opening may be provided at the periphery of the base member. Alternatively, a plurality of openings separated by connecting ribs may be provided between the outer periphery and the middle portion of the base member.

In some embodiments, a vacuum gripper may be formed to grip the surface of an object. The vacuum gripper includes a base element having openings along the periphery. The base element may be a plate that may serve as a housing for the vacuum gripper. The handle may be connected to the base element, for example, on the upper side facing the operator.

The vacuum gripper includes a flexible layer having a flexible part and a compressible part. The flexible part is located along the periphery with the possibility of access to it through openings in the base element. The compressible part serves as a support and is formed in the middle of the flexible part. The compressible part is connected to the base element.

The compressible part contains a more compressible material than the flexible part. The compressible part is located outside the periphery of the vacuum seal element or is located in the interior of the base element.

In some embodiments, the flexible layer is configured to deform with a less localized profile than the elastically deformable material under point indentation. Alternatively or additionally, the flexible layer is configured to project to a greater extent on the opposite surface than the elastically deformable material under point indentation. Alternatively or additionally, the flexible layer has a higher hardness than the elastically deformable material.

The vacuum gripper includes a vacuum seal element connected to a flexible layer. The vacuum seal element may include an elastically deformable material with a deformability characteristic used to conform to the surfaces of uneven surfaces of objects, such as rough surfaces or surfaces with grooves or steps. The deformable seal element may stretch and compress to follow changes in the surface of the object so that an appropriate vacuum level can be created in the cavity.

The element - vacuum seal and the flexible layer are designed with the possibility of forming a cavity with the surface of the object, contacting the vacuum gripper. The openings in the base element are designed with the possibility of ensuring pressing on the flexible layer in the direction of the element - vacuum seal, in order to facilitate the conformity of the element - vacuum seal to the unevenness of the surface of the object.

The vacuum seal element may be connected to the flexible layer on the periphery. Alternatively, the vacuum seal element is connected to the flexible layer on the inner part inside the periphery of the vacuum seal element, wherein the thickness of the inner part is less than the thickness of the peripheral part.

In some embodiments, the elastically deformable material includes a plurality of different elastically deformable materials, wherein the plurality of different elastically deformable materials are arranged in separate layers (discretely) or form a composite layer having continuously changing levels of elastic deformation. The plurality of different elastically deformable materials are designed with the possibility of balancing the contact forces on the element - the vacuum seal when meeting the surface of the object, which has a surface unevenness.

In some embodiments, the elastically deformable material includes a pneumatic or hydraulic element comprising a flexible and stretchable layer forming a fluid-filled cavity, wherein the fluid-filled cavity has a pressure optimized for sealing the element - a vacuum seal on the surface of the object, when the surface of the object is not smooth.

In some embodiments, the vacuum gripper additionally has a stop rod configured to be detachably connected to the base element. The size of the stop rod is smaller than the size of the holes used to press the flexible layer through the hole.

The vacuum gripper includes an air removal mechanism connected to the base element and in fluid communication with the cavity. The air removal mechanism is configured to remove gas from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper. The air removal mechanism may include a motor configured to pump air from the cavity, such as an air pump driven by a motor. The air removal mechanism may include another system configured to remove air from the cavity, such as an impeller or a high-flow Venturi design. The air removal mechanism may be located in the handle, for example, a hollow handle may be connected to the base element, wherein the air removal mechanism is located inside the hollow part of the handle.

The vacuum gripper may include a second flexible layer connected to the vacuum seal element, wherein the flexible layer comprises a material that is more wear-resistant or more abrasion-resistant than the material of the vacuum seal element.

The vacuum gripper may include hooking elements connected to the base element, wherein the hooking elements are designed with the possibility of connecting to a lifting mechanism.

The vacuum gripper may include a manual air removal mechanism connected to the second surface of the base element and communicating via a fluid medium with the cavity, wherein the manual air removal mechanism is configured to remove gas from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper. The manual air removal mechanism is configured to be controlled by a person.

The vacuum gripper may include a pressure sensor connected to the base element and in fluid communication with the cavity, wherein the pressure sensor is configured to provide an indication of the pressure or vacuum level in the cavity.

The vacuum gripper may include an air release mechanism connected to the base element and communicating via a fluid medium with the cavity, wherein the air release mechanism is configured to release gas from the cavity.

The vacuum gripper may include a power source configured to supply power to the air removal mechanism, wherein the power source is housed in a handle connected to the second surface of the base member. The power source may be a battery, such as a rechargeable battery. The power source may be housed in a handle that accommodates a motor-driven pump. For example, the handle may be C-shaped, with a middle portion parallel to the base member and connected to two rods perpendicular to the base member, at two ends of the middle portion. The middle portion and the two end rods are hollow to accommodate the air removal mechanism, for example, the end rod is configured to accommodate a motor-driven pump, and the middle portion is configured to accommodate a battery. The battery may be a rechargeable battery, wherein the connector is configured to receive a charger, such as a portable charger, to charge the battery on site, for example, without the need for a power outlet.

The vacuum gripper may include a charging mechanism configured to charge the power source, wherein the charging mechanism is configured to charge the power source from an external power source or manually by a person.

The vacuum gripper may include a vacuum alarm, wherein the alarm is configured to generate an alarm signal when the pressure level in the cavity exceeds a predetermined value.

The vacuum gripper may include a manual mechanism configured to maintain operation of the vacuum gripper, wherein the manual mechanism is configured to remove gas from the cavity by a person to reduce the pressure level when an alarm signal indicating the pressure level exceeds a predetermined value.

The vacuum gripper may include a battery alarm connected to a power source, wherein the battery alarm is configured to generate an alarm to notify a person when the battery power level is below a predetermined value.

The vacuum gripper includes an alarm signal configured to provide an alarm signal when the battery power level is below a predetermined value for the battery or when the pressure level in the cavity exceeds a predetermined pressure value. The alarm signal can warn the operator of the need for servicing the vacuum gripper, especially when operating the vacuum gripper, such as holding and lifting or transporting an object.

The vacuum gripper includes a manual mechanism configured to maintain the operation of the vacuum gripper, such as to eliminate the cause of the alarm, to reset the alarm and to maintain the operation of the vacuum gripper. In the event of a low battery alarm, the manual mechanism may include an external portable power source or a built-in power generator for charging the battery. For example, the manual mechanism may be configured to charge the power source from an external power source by an operator using a portable power source to connect to the battery to charge it. The manual mechanism may be configured to manually charge the battery by an operator using a manual charging mechanism, such as a manual generator.

In the event of a low vacuum alarm, such as high pressure in a vacuum gripper cavity, the manual mechanism may include an integrated hand pump configured to remove gas from the cavity to reduce the pressure level by an operator using the hand pump to evacuate air from the cavity.

The vacuum gripper includes a controller configured to regulate the air removal mechanism. The power regulation can be configured to save energy, for example to prolong the creation of a vacuum in the cavity, so that the vacuum gripper can hold and transport a load for a longer time. With intermittent power regulation, the controller is configured to turn off the air removal mechanism when the pressure level in the cavity reaches a predetermined pressure level or when the rate of pressure decrease in the cavity reaches a predetermined level. The controller is also configured to turn on the air removal mechanism when the pressure level in the cavity is below the predetermined pressure level. Alternatively, the power regulation can use a motor with adjustable power for a motor-driven pump, for example the motor-driven pump can operate at different power levels, such as full power for maximum air removal or lower power for reducing the air removal ability. The controller can control the operation of the adjustable motor based on the cavity pressure, for example in the case of higher power when the cavity pressure or the rate of pressure change are high, and reduced power when the cavity pressure or the rate of pressure change is low. When the pressure reaches a steady state, such as when the rate of pressure change is small, the controller can control the motor operation based on the power sufficient to compensate for the pressure loss in order to maintain the correct vacuum level in the cavity.

Fig. 21A-21C show a configuration of a vacuum gripper having base openings according to some embodiments. Fig. 21A shows a perspective view of a portable vacuum gripper 2100, a top view, showing a body or base element 2111 of the gripper having openings 2168 located along the periphery of the base element. The openings 2168 can be located at a distance from the edges of the base element and are configured to open a flexible layer 2134 on a compressible layer 2131 of a vacuum seal. A pressure sensor 2123 can be mounted on the base element to monitor the pressure or vacuum level in the gripping cavity of the vacuum gripper. The vacuum gripper has a handle 2110 located in the middle part of the base element. The handle is configured to accommodate multiple components of the vacuum gripper, such as a motor-driven pump 2120, a hand pump, a battery, a manual vacuum release button, a switch 2120A for turning the motor-driven pump on or off, hooking elements for connecting to lifting cables and a controller for adjusting the motor-driven pump to save energy. The handle may have a recess for storing a stop rod 2164, which can be used to press the flexible layer through openings to reduce potential gaps between the vacuum seal and the surface of the object.

In Fig. 21B(a)-21B(c) a cross-sectional view of the compressible layer is shown, illustrating the process of improving the compliance of the vacuum seal with the stepped surface of the object. In Fig. 21C(a)-21C(c) a cross-sectional view of the compressible layer is shown, illustrating the process of improving the compliance of the vacuum seal with the stepped surface of the object. The base member may remain rigid, and the flexible layer and the compressible layer may bend when meeting the stepped surface of the object. Under the action of the stop rod 2164, the lower surface of the compressible layer 2131 is pressed downward until it contacts the stepped surface.

In Fig. 21B(a) and Fig. 21C(a), a vacuum gripper having a vacuum seal that includes a flexible layer 2134 on a deformable layer 2131 is placed on the surface of an object that contains a step 2162. When placed on the object, the vacuum seal can rest on a higher portion of the step with a gap relative to the lower portion.

In Fig. 21B(b) and Fig. 21C(b), the vacuum gripper is pressed to form contact with the surface of the object. The vacuum seal may be deformed to conform to the surface of the object. At a distance from the step, the vacuum seal contacts the surface of the object. In the immediate vicinity of the step, there may be a gap 2165 between the vacuum seal and the lower corner of the step.

The thrust rod 2164 is used to press the flexible layer through the opening of the plurality of openings at the location of the gap 2165, for example by applying a force 2164* to the thrust rod. The deformable layer 2131 moves on the surface of the lower side to fill the gap 2165.

As a result, pressing the stop rod 2164 in the gap region can help to reduce the size of the gap 2165 to ensure sufficient vacuum suction force between the vacuum gripper and the object (Fig. 21B(c) and Fig. 21C(c)).

Fig. 22 shows a block diagram of forming a vacuum gripper with openings according to some embodiments. In operation 2200, a vacuum gripper is formed for gripping a surface of an object. The vacuum gripper includes a base element, a flexible layer at least partially connected to the surface of the base element, a vacuum seal element in the form of a closed loop at least partially connected to the flexible layer, wherein the vacuum seal element is configured to form a sealed cavity with at least one of the base element or the flexible layer when in contact with the surface of the object, and a vacuum pump connected to the base element and in fluid communication with the cavity for removing air in the cavity.

The vacuum sealing element includes a compressible material, a multilayer compressible material, a composite progressively changing compressible material, or a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a fluid-filled cavity.

The flexible layer is less compressible than the compressible element - the vacuum seal. The flexible layer is designed to be deformed on the same surface with a less localized profile than the compressible material under point pressing. The flexible layer is designed to be deformed on the opposite surface to a greater extent than the compressible material under point pressing, since it has a higher hardness. The flexible layer includes a support in the area inside or outside the element - the vacuum seal in the form of a closed loop. The support contains a flexible material or a compressible material.

The base element contains openings along the periphery at the locations of the vacuum seal element for the thrust rod for pressing on the flexible layer or on the vacuum seal element so that the compressible layer can conform to the unevenness of the surface of the object.

Fig. 23 shows the process of operation of a vacuum gripper with openings according to some embodiments. In operation 2300, the vacuum gripper is connected to the surface of the panel. In operation 2310, the motor is turned on to create a vacuum in the cavity of the vacuum gripper. In operation 2320, the vacuum gripper is pressed so that the vacuum sealing element can conform to the irregularities of the surface of the panel. In operation 2330, individual areas of the vacuum sealing element of the vacuum gripper are pressed optionally using a stop rod to further conform the vacuum sealing element to the irregularities of the surface. In operation 2340, the vacuum gripper and the vacuum seal are continued to be pressed until a vacuum level or a pressure level is reached. In operation 2350, the motor is automatically turned off when the vacuum level or the pressure level is reached. In operation 2360, the motor is automatically turned on when the vacuum in the cavity drops below the vacuum level or the pressure level. Operation 2370 automatically turns on the charging system to charge the vacuum gripper battery when the battery level is below the set battery charge level.

Vacuum gripper configurations with holes

In some embodiments, the vacuum gripper may have a flexible layer/compressible layer seal connected to a rigid base member. The base member may be rigid to support the handle and other components. The flexible layer/compressible layer seal may be flexible and compressible to conform to the surface irregularities of the object. The connection of the flexible layer to the base member may include another deformable layer to allow the flexible layer to move while the base member remains rigid.

Fig. 24A-24E show the connection configurations between the base member and the flexible layer according to some embodiments. In Fig. 24A, the compressible layer 2431 of the vacuum seal has the shape of a closed loop that extends along the periphery of the base member 2411. The flexible layer 2434 is connected to the compressible layer 2431 along the periphery. The flexible layer 2434 has a flexible support 2467 above and below the flexible layer, and the flexible support is located in the region inside the periphery. An upper part of the flexible support, for example a part of the flexible support above the flexible layer, is connected to the base member 2411. The flexible support can include an elastically deformable material, for example compressible and stretchable. The flexible support's deformability characteristic can allow the vacuum seal to bend to conform to the surface irregularities of an object while maintaining the base member rigid.

In Fig. 24B, the compressible layer 2431 of the vacuum seal has the shape of a closed loop that extends along the periphery of the base element 2411. The flexible layer 2434 is connected to the compressible layer 2431 along the periphery. The flexible layer 2434 has a flexible support 2467 above the flexible layer, and the flexible support is located in most areas, for example, in areas along the periphery and in areas inside the periphery. The upper part of the flexible support, for example, the part of the flexible support above the flexible layer, is connected to the base element 2411. The openings of the base element also open the flexible support, so that the thrust rod can press on the flexible support to press on the flexible layer to act on the compressible layer.

In Fig. 24C, the compressible layer 2431 of the vacuum seal has the shape of a closed loop that extends along the periphery of the base element 2411. The flexible layer 2434 is connected to the compressible layer 2431 along the periphery. The flexible layer 2434 has a flexible support 2467 above and below the flexible layer, wherein the flexible support is located in the region inside the periphery. The upper part of the flexible support, for example the part of the flexible support above the flexible layer, includes a hydraulic or pneumatic element that has an outer layer of silicone or rubber 2467A containing a cavity filled with a fluid medium, such as air 2467B. The pressure in the cavity of the pneumatic or hydraulic element can be adjustable in order to optimize it for matching the base element with the vacuum seal element.

In Fig. 24D, the compressible layer 2431 of the vacuum seal has the form of a closed loop, which extends along the periphery of the base element 2411, as well as a thinner layer in the region inside the peripheral part. The flexible layer 2434 is connected to the compressible layer 2431 along the periphery, as well as on the inside. The flexible layer 2434 has a flexible support 2467 above the flexible layer, wherein the flexible support is located in the region inside the periphery, as well as outside the periphery. The upper part of the flexible support is connected to the base element 2411, for example in the regions outside and inside the periphery of the base element.

In Fig. 24E, the compressible layer 2431 of the vacuum seal has the form of a closed loop that extends along the periphery of the base element 2411. The flexible layer 2434 is connected to the compressible layer 2431 along the periphery. The flexible layer 2434 has a flexible support 2467 above and below the flexible layer, wherein the flexible support is located in the region inside the periphery, as well as outside the periphery. The upper part of the flexible support is connected to the base element 2411, for example, in the regions outside and inside the periphery of the base element. The upper part of the support has an opening along the periphery of the base element for opening the flexible layer.

Fig. 25 shows the process of forming a vacuum gripper according to some embodiments. In operation 2500, a vacuum gripper is formed for gripping the surface of an object. The vacuum gripper includes a base element, a flexible layer having a compressible portion connected to the surface of the base element, a vacuum seal element in the form of a closed loop connected to the flexible layer, wherein the vacuum seal element is configured to form a sealed cavity with at least one of the base element or the flexible layer when in contact with the surface of the object, and a vacuum pump connected to the base element and in fluid communication with the cavity for removing air in the cavity.

The vacuum sealing element includes a compressible material, a multilayer compressible material, a composite progressively changing compressible material, or a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a fluid-filled cavity.

The base element includes at least an opening on the periphery of the vacuum seal element for a thrust rod for pressing on the flexible layer or on the vacuum seal element so that the compressible layer can conform to the unevenness of the surface of the object.

The compressible portion of the flexible layer is located in the middle portion of the flexible layer inside the periphery of the vacuum seal element. The compressible portion of the flexible layer is not necessarily located in the portion of the flexible layer outside the periphery of the vacuum seal element. The vacuum seal element does not necessarily contain a flexible portion inside the periphery of the vacuum seal element, wherein the thickness of the flexible portion is less than the thickness of the peripheral portion.

Deformability characteristics of vacuum seal with local pressing

In some embodiments, the vacuum seal element is configured to form a tight fit to an uneven surface of an object using a thrust rod in localized areas of the vacuum seal. For example, a vacuum seal facing a sharp and deep corner of the surface of an object can still leave a gap even with a large pressing force on the vacuum gripper, since a large pressing force is general, and the largest part of the pressing force is distributed over other contact areas. A local force, such as the force provided by the thrust rod pressing on the vacuum seal area at the location of the gap, can push the vacuum seal into the gap to reduce the size of the gap and form an appropriate suction force between the gripper and the object.

In some embodiments, the vacuum seal is configured to transfer material from the upper surface to the lower surface of the vacuum seal in such a way that pressing on the upper surface can cause the lower surface to deform, for example in such a way that it protrudes to fill the gap. Thus, in addition to a material having high compressibility to match the change in the surface of the object, the vacuum seal also includes a material of high hardness to ensure the movement of the lower layer when pressing on the upper layer. Thus, the vacuum seal can include a composite material, such as having high compressibility on the lower side and lower compressibility or higher hardness on the upper side.

Fig. 26A-26H show configurations of a vacuum seal according to some embodiments. In Fig. 26A, a soft compressible seal 2631 can be deformed when pressed on an uneven surface, such as a surface with a convexity. The lower side of the seal can form a recess 2671A corresponding to the convexity of the surface. On the opposite side of the seal, for example, on the upper side, there can be minimal changes. Similarly, a soft compressible seal can be deformed to form a depression 2670B having a depth of 2671B, when pressed on the upper surface, for example, with a stop rod. In this case, there can also be minimal changes on the opposite side of the seal, for example, on the lower side.

In contrast, for a harder material such as flexible layer 2634, both the upper and lower sides of the flexible layer are deformed into similar shapes when pressed by the stop rod, such as to form depression 2670B.

Fig. 26B shows a configuration of a composite seal having a flexible layer 2634 located on a compressible layer 2631. The hardness and thickness of each layer can be optimized to ensure compliance with the surface of the object, and the lower part of the seal can protrude when pressing on the upper part. A force 2664* can be applied to the flexible layer using a stop rod. The force can lead to the formation of a depression 2670B* on the flexible layer with a depth of 2671B*. The compressible layer is deformed on the lower side by the depression 2670B* and the depth 2671B* to form a protrusion 2670C and a height 2671C. The flexible layer and the compressible layer are selected so as to provide a protrusion 2670C and a height 2671C suitable for filling gaps caused by irregularities in the surface of the object.

Fig. 26C shows a configuration of a composite seal having a less compressible layer 2634A located on a more compressible layer 2631B. The hardness and thickness of each layer can be optimized to ensure compliance with the surface of the object, and the lower part of the seal can protrude when pressing on the upper part. For example, the more compressible layer 2631B can be a soft compressible, such as with high compressibility, while the less compressible layer 2631A can be a hard compressible, such as with medium compressibility.

Fig. 26D shows a configuration of a composite seal having a flexible layer located on a less compressible layer 2634A located on a more compressible layer 2631B. The hardness and thickness of each layer can be optimized to ensure compliance with the surface of the object, and the lower part of the seal can protrude when pressing on the upper part.

Fig. 26E shows a configuration of a composite seal having a material 2672 with a gradually changing compressibility. The hardness and thickness curve of the composite seal can be optimized to match the surface of the object, and the lower part of the seal can protrude when pressing on the upper part.

Fig. 26F shows a configuration of a composite seal having a flexible layer disposed on a material 2672 with gradually changing compressibility. The hardness and thickness of each layer can be optimized to ensure compliance with the surface of the object, and the lower part of the seal can protrude when pressing on the upper part.

Fig. 26G shows a configuration of a composite seal having a hydraulic or pneumatic tube, such as a rubber tube 2632A, filled with a fluid, such as air 2632B. The rubber layer can function as a hard flexible layer, while the air can function as a soft compressible layer. The air pressure can be optimized to match the surface of the object so that the lower part of the seal can protrude when pressing on the upper part.

Fig. 26H shows a configuration of a composite seal having a flexible layer located on a hydraulic or pneumatic tube filled with a fluid. Alternatively, the hydraulic or pneumatic tube may have a thicker layer on top that may function as a flexible layer.

Fig. 27A-27I show vacuum seal configurations according to some embodiments. Fig. 27A shows a flexible thin layer 2734 located on a rubber tube seal having air 2732B under pressure within a rubber wall 2732A, wherein the rubber tube seal is located on a lower flexible layer 2761. Fig. 27B shows a flexible thin layer 2734 located on a seal comprising layers 2736, 2735 and 2731, each of which has a different compressible and stretchable material, wherein the seal is located on the lower flexible layer 2761. Fig. 27C shows a flexible thin layer 2734 located on a seal having a layer 2731, with the seal located on the lower flexible layer 2761. Fig. 27D shows a flexible thin layer 2734 located on a seal containing layers 2735/2731 on a seal 2732A/2732B in the form of a rubber tube. In Fig. 27E shows a flexible thin layer 2734 located on a seal having layer 2731 on a seal 2732A/2732B in the form of a rubber tube. In Fig. 27F shows a flexible thin layer 2734 located on a seal having rubber tube 2732A1 on a seal 2732A in the form of a rubber tube. In Fig. 27G shows a flexible thin layer 2734 located on a seal having rubber tube 2732A, which is located on a seal containing layers 2735/2731. In Fig. 27H shows a flexible thin layer 2734 located on a seal having a rubber tube 2732A, which is located on another flexible layer 2734A, which is located on a seal containing layers 2735/2731. Fig. 27I shows a flexible thin layer 2734 located on two seals having rubber tubes 2732A1 and 2732A, with another flexible thin layer 2734A between the two rubber tubes.

Fig. 28 shows a process for forming a vacuum gripper according to some embodiments. In operation 2800, a vacuum gripper is formed for gripping a surface of an object. The vacuum gripper includes a base element, a flexible layer having a compressible portion connected to the surface of the base element, a vacuum seal element in the form of a closed loop connected to the flexible layer, wherein the vacuum seal element is configured to form a sealed cavity with at least one of the base element or the flexible layer when in contact with the surface of the object, and a vacuum pump connected to the base element and in fluid communication with the cavity for removing air in the cavity.

The vacuum seal element comprises a compressible material with a gradually changing compressibility characteristic. The vacuum seal element comprises a compressible material having a plurality of layers with different compressibility characteristics. The vacuum seal element comprises a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a cavity filled with a fluid medium. The vacuum seal element comprises a compressible material on a flexible layer. The vacuum seal element comprises a compressible material having a combination of two or more layers with a gradually changing compressibility characteristic, a plurality of layers with different compressibility characteristics, a pneumatic or hydraulic element having a second flexible layer forming a cavity filled with a fluid medium, or a third flexible layer.

The layers of the vacuum seal element are optimized for sealing the vacuum seal element on the surface of an object with varying height.

The flexible layer is less compressible than the compressible element - the vacuum seal. The flexible layer is designed to be deformed on the same surface with a less localized profile than the compressible material under point pressing. The flexible layer is designed to be deformed on the opposite surface to a greater extent than the compressible material under point pressing, since it has a higher hardness.

Vacuum gripper with pin group

In some embodiments, the portable vacuum gripper may include components for selectively deforming the vacuum seal in accordance with the underlying surface. For example, the components may include pins located along the periphery of the portable vacuum gripper on the vacuum seal. When the pins are pressed in accordance with the profile of the surface to be sealed, the vacuum seal may be appropriately deformed to form a seal with the surface of the object.

For example, a portable vacuum gripper can be used to lift an object that has a grooved surface. The portable vacuum gripper can be placed on the grooved surface, and the pins on the grooved areas can be pressed down to push the vacuum seal against the grooves, to provide a better seal on the grooved surface.

In some embodiments, the vacuum gripper includes a base element, a group of stop rods connected to the periphery of the base element, a flexible layer containing a flexible part and a compressible part, wherein the flexible part is located along the periphery to provide access through openings, and the compressible part is connected to the base element, a vacuum seal element connected to the flexible layer, wherein the vacuum seal element contains an elastically deformable material.

The thrust rods are made with the possibility of moving toward the element - vacuum seal by sliding, by rotation, by screwing or by pressing. The thrust rods are made with the possibility of pressing on the flexible layer in the direction of the element - vacuum seal, in order to facilitate the matching of the element - vacuum seal with the unevenness of the surface of the object.

The vacuum gripper also includes an air removal mechanism connected to the second surface of the base element and communicating via a fluid medium with the cavity, wherein the air removal mechanism is configured to remove gas from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper.

The vacuum gripper may also include other components such as a handle connected to the second surface of the base element, a power source configured to supply power to the air removal mechanism, a controller configured to regulate the air removal mechanism, an alarm signal and a manual mechanism configured to maintain the operation of the vacuum gripper, with a charging mechanism configured to charge the power source from an external power source or manually by a person when the alarm signal indicating the power level is below the first predetermined value, or to remove gas from the cavity by a person to reduce the pressure level when the alarm signal indicating the pressure level exceeds the second predetermined value.

Fig. 29A-29B show a portable vacuum gripper having components for deforming a seal according to some embodiments. In Fig. 29A, a portable vacuum gripper 2900 may include a housing 2911*, which may include a base member 2911 and a handle 2910. The handle 2910 may be configured to accommodate a motor-driven pump 2920, a hand pump 2921, a battery located in the handle, a power button 2925 for turning on the motor-driven pump and a manual vacuum release button 2912. The base member 2911 may be configured to accommodate a pressure sensor 2923 (or a vacuum sensor), which can determine a pressure level or a vacuum level in a cavity of the portable vacuum gripper. Hook elements 2926 may be formed on the base member for attaching to hooks for lifting.

The portable vacuum gripper 2900 can be configured to have a plurality of components for deforming the seal, such as movable pins 2942 located on the upper surface of the vacuum seal. The pins 2942 can move downward, such as when the operator presses on the pins. The movement of the pins can cause the vacuum seal to be deformed, such as by pushing it downward. In this way, the pins corresponding to a groove or step on the surface can be pressed downward, which can help deform the vacuum seal in the shape of the underlying surface to provide a better seal.

In Fig. 29B(a), the portable vacuum gripper 2900 may include a vacuum seal 2931 located under the flexible layer 2934. The portable vacuum gripper 2900 may include a group of pins located along the length of the vacuum seal 2931. In Fig. 29B(b), the portable vacuum gripper 2900 may be placed on an uneven surface, such as a stepped surface. The vacuum seal 2931 may deform to some extent to seal the stepped surface. In addition, the pins 2942A of the group 2942 of pins may press downwards, which may contribute to the deformation of the vacuum seal and may provide better sealing of the stepped surface.

Fig. 30A-30D show configurations of components for deforming a seal according to some embodiments. In Fig. 30A, a pressure pocket 3041 inside a housing 3011 can be located on a flexible layer 3034, which is located on a vacuum seal 3031. The pressure pocket 3041 can be configured to receive a gas flow to regulate the pressure inside the pressure pocket. The force exerted by the pressure pocket can be uniform along the length of the vacuum seal on a flat surface. On a stepped surface, the force can push the vacuum seal further in areas of lower steps, which can contribute to the deformation of the vacuum seal.

In Fig. 30B, a plurality of pins 3042 can be arranged on a support 3043 that extends along the length of the vacuum seal. The pins can be evenly distributed along the length of the vacuum seal. The pins 3042 can be pressed downwardly relative to the support 3043. On a stepped surface, the pins corresponding to the areas of the lower steps can be pressed downwardly, this can push the vacuum seal further downwards in the areas of the lower steps, which can contribute to the deformation of the vacuum seal.

In Fig. 30C, a plurality of pins 3044 can be arranged on a support that extends along the length of the vacuum seal. The pins 3044 can be configured to move along the support, for example, the pins can move along the support to be located at a desired location, such as at a location of a groove or a lower step region. The number of pins can be less than a uniform distribution of pins, since the pins can be moved to correspond to stepped areas. For example, the number of pins can be less than 20, less than 15, or less than 10 pins.

On the stepped surface, the pin can slide along the support to be positioned in the lower step areas. The sliding pin can then be pressed downwards, this can push down the vacuum seal in the lower step areas, which can contribute to the deformation of the vacuum seal.

In Fig. 30D, a plurality of pins 3045 can be arranged on a support that extends along the length of the vacuum seal. The pins 3045 can be configured to move along the support, for example, the pins can move along the support to be positioned at a desired location, such as at a location of a groove or an area of a lower step. The pins 3045 can also be configured to rotate around an axis so that the pins can be positioned in any direction, such as in a direction that can push the vacuum seal toward the corner of the step. The sliding and rotating pins can be arranged so as to push at the corner of the step, which can help deform the vacuum seal at the corner of the step for better sealing.

Fig. 31A-31B show configurations of components for deforming a seal according to some embodiments. In Fig. 31A, a pressure pocket 3141 inside a housing 3111 can be located on a flexible layer 3134, which is located on a vacuum seal 3131. The pressure pocket 3141 can be configured to receive a gas flow to regulate the pressure inside the pressure pocket. The force exerted by the pressure pocket can be uniform along the length of the vacuum seal on a flat surface. On a stepped surface, the force can push the vacuum seal further in areas of lower steps, which can contribute to the deformation of the vacuum seal.

In Fig. 31B, the pins can be screwed 3146 onto the support, so that when the pins are rotated, they can press down on the vacuum seal. In Fig. 31C, the pins can be pressed down 3147 onto the support. The pins and the support can be designed to hold the pins in the pressed position, for example by providing rough pins and a support with a high coefficient of friction, for example with a coating of rubber material 3148. Thus, when the pins are pressed, they can remain down.

The support may have a release configuration, such as by dividing the support into two parts, while the pins remain free to move upward, such as under the action of a spring. In this way, the release configuration may release all the pins simultaneously, and the downward pressing action may be performed on individual pins.

Fig. 32 shows a process for forming a vacuum gripper having a group of pins, according to some embodiments. In operation 3200, a vacuum gripper is formed for gripping a surface of an object. The vacuum gripper includes a base element, a flexible layer having a compressible portion connected to the surface of the base element, a vacuum seal element in the form of a closed loop connected to the flexible layer, wherein the vacuum seal element is configured to form a sealed cavity with at least one of the base element or the flexible layer when in contact with the surface of the object, and a vacuum pump connected to the base element and in fluid communication with the cavity for removing air in the cavity.

The vacuum sealing element includes a compressible material having a gradual change in compressibility characteristics, a compressible material having a plurality of layers with different compressibility characteristics, a compressible structure having a pneumatic or hydraulic element having a flexible layer surrounding a cavity filled with a fluid medium, a compressible material on a flexible layer or any combination thereof. The layers of the vacuum sealing element are optimized for sealing the vacuum sealing element on the surface of an object with a changing height. The flexible layer is designed with the possibility of improving the compliance of the vacuum sealing element with the surface of the object when pressed thereon.

The vacuum gripper includes movable pins located along the periphery at the locations of the element - vacuum seal for pressing on the flexible layer or on the element - vacuum seal, so that the compressed layer can correspond to the unevenness of the surface of the object. The movable pins are designed with the ability to move towards the element - vacuum seal by sliding, by rotation, by screwing or by pressing.

Fig. 33A-33D show block diagrams of the operation of components for deforming a seal in a portable vacuum gripper according to some embodiments. The sealing elements can facilitate selective deformation of the vacuum seal on uneven surfaces, such as stepped surfaces, grooved surfaces, or rough surfaces.

In Fig. 33A, operation 3300 increases the pressure in the deformable air pocket located along the length of the seal to match the seal to the uneven surface. In Fig. 33B, operation 3320 moves, toward the uneven surface, individual pins in a group of pins located along the length of the seal to match the seal to the uneven surface.

In Fig. 33C, operation 3340 causes individual pins in a group of pins located along the length of the seal to slide or rotate to conform the seal to an uneven surface. In Fig. 33D, operation 3360 screws or presses individual pins in a group of pins located along the length of the seal to conform the seal to an uneven surface.

Claims (70)

1. A vacuum gripper for gripping an object, containing base element, wherein the base element comprises one or more openings along the periphery of the base element; element - vacuum seal connected to the base element, wherein the element - vacuum seal is designed with the ability to surround the cavity, wherein the lower side of the cavity is the surface of the object in contact with the element - vacuum seal, wherein the element – vacuum seal comprises a first part located on the second part, wherein the first part of the element - the vacuum seal is located near the periphery, wherein one or more openings are made with the possibility of opening one or more sections of the first part, wherein the first part contains a flexible and stretchable material, wherein the second part contains compressible and deformable material, in this case, one of the following two conditions is met: the first part has a higher hardness than the second part, or the first part is less compressible and less deformable than the second part, wherein the first and second parts are designed with the possibility of reducing the size of the gap with a step on the surface of the object by means of an element - a vacuum seal - after the first part is pressed through an opening from among one or more openings; an air removal mechanism connected to the base element and communicating via a fluid medium with the cavity, wherein the air removal mechanism is configured to remove gas from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper; and wherein the first part is designed with the possibility of deformation with a less localized profile than the second part during point indentation. 2. A vacuum gripper according to claim 1, wherein the first part of the vacuum seal element extends into the inner regions of the periphery, wherein the inner regions are connected to the base element. 3. A vacuum gripper according to item 1, wherein the layer thickness, layer hardness, layer flexibility, layer extensibility, layer compressibility or layer deformability are selected in such a way that the vacuum sealing element better corresponds to the unevenness of the surface of the object. 4. A vacuum gripper according to claim 1, wherein the first part has a higher hardness than the second part, or the first part is less compressible and less deformable than the second part. 5. A vacuum gripper according to claim 1, wherein the second part comprises a plurality of different elastically compressible and deformable materials, wherein the plurality of different materials are located in separate layers. 6. A vacuum gripper according to claim 1, wherein the second part comprises a plurality of different elastically compressible and deformable materials in a composite layer having continuously changing levels of elastically compressible and deformable materials. 7. A vacuum gripper according to claim 1, wherein the second part comprises a pneumatic or hydraulic element comprising a flexible and stretchable layer forming a fluid-filled cavity, wherein the fluid-filled cavity has a pressure optimized for sealing the element - a vacuum seal with a step on the surface of the object. 8. A vacuum gripper according to claim 1, further comprising a lower layer connected to the vacuum seal element on the outer side of the vacuum seal element, wherein the lower layer comprises a flexible material that is more wear-resistant or more abrasion-resistant than the material of the first part of the vacuum seal element. 9. A vacuum gripper according to claim 1, further comprising an emergency signal, wherein the emergency signal is configured to generate an emergency signal when the pressure level in the cavity exceeds a predetermined value; a manual mechanism configured to maintain the operation of the air removal mechanism, wherein the manual mechanism is configured to manually remove gas from the cavity by a person. 10. The vacuum gripper of claim 1, further comprising a battery configured to supply power to the air removal mechanism, wherein the battery is housed in a handle connected to the base member; a battery alarm connected to the battery, wherein the battery alarm is configured to supply an alarm signal to notify a person when the battery power level is below a predetermined value; a charging mechanism configured to charge the power source, wherein the charging mechanism is configured to charge the power source from an external power source or manually by a person. 11. A vacuum gripper according to claim 1, further comprising a controller configured to regulate an air removal mechanism, wherein the controller is configured to turn off the air removal mechanism when the pressure level in the cavity reaches a predetermined pressure level or when the rate of pressure reduction in the cavity reaches a predetermined level, wherein the controller is configured to turn on the air removal mechanism when the pressure level in the cavity is below the predetermined pressure level. 12. The vacuum gripper according to claim 1, further comprising a thrust rod, wherein the thrust rod is designed with the possibility of a detachable connection to the body of the vacuum gripper, wherein the size of the thrust rod is smaller than the size of the opening so that the thrust rod can be pressed at an angle from the vertical direction to the step. 13. A vacuum gripper according to claim 1, further comprising a group of thrust rods connected to the periphery of the base element and aligned with one or more openings; wherein the thrust rods are configured to move toward the vacuum seal element by sliding, by rotation, by screwing, or by pressing, wherein the thrust rods are configured to press the first part in the direction toward the second part. 14. A vacuum gripper according to claim 1, wherein the vacuum seal element comprises an internal part within the periphery, wherein the thickness of the internal part is less than the thickness of the peripheral part, and wherein the internal part is connected to the base element. 15. A vacuum gripper according to claim 1, wherein the element - a vacuum seal - is designed with the possibility of having a second part protruding into the step when the first part is pressed. 16. A vacuum gripper according to claim 1, wherein the second part contains a plurality of different elastically compressible and deformable materials, wherein the plurality of different materials are designed with the possibility of balancing the contact forces on the element - the vacuum seal when meeting the surface of an object that has an uneven surface. 17. A vacuum gripper according to claim 1, additionally comprising hooking elements connected to the base element, wherein the hooking elements are designed with the possibility of connection to a lifting mechanism. 18. The vacuum gripper according to claim 1, additionally comprising a manual air removal mechanism connected to the base element and communicating via a fluid medium with the cavity, wherein the manual air removal mechanism is configured to remove gas from the cavity to create a suction force for connecting the surface of the object to the vacuum gripper, in this case, the manual air removal mechanism is designed to be controlled by a person; a pressure sensor connected to the base element and communicating via a fluid medium with the cavity, wherein the pressure sensor is configured to provide an indication of the pressure level or vacuum level in the cavity; an air release mechanism connected to the base element and communicating via a fluid medium with the cavity, wherein the air release mechanism is designed with the possibility of releasing gas from the cavity. 19. A vacuum gripper for gripping an object, comprising base element, wherein the base element comprises one or more openings along the periphery of the base element; element - vacuum seal connected to the base element, wherein the element - vacuum seal is designed with the ability to surround the cavity, wherein the lower side of the cavity is the surface of the object in contact with the element - vacuum seal, wherein the element – vacuum seal comprises a first part located on a second part, wherein the first part of the element - the vacuum seal is located near the periphery, wherein one or more openings are made with the possibility of opening one or more sections of the first part, wherein the first part of the element – the vacuum seal – extends into the inner regions of the periphery, and the inner regions are connected to the base element, wherein the first part contains a flexible and stretchable material, the second part contains compressible and deformable material, where one of the following two conditions is met: the first part has a higher hardness than the second part, or the first part is less compressible and less deformable than the second part, wherein the first and second parts are designed with the possibility of reducing the size of the gap with a step on the surface of the object by means of an element - a vacuum seal after the first part is pressed through an opening from among one or more openings, wherein the layer thickness, layer hardness, layer flexibility, layer extensibility, layer compressibility or layer deformability are selected in such a way that the element – vacuum seal – better corresponds to the unevenness of the surface of the object; an air removal mechanism connected to the base element and communicating via a fluid medium with the cavity, wherein the air removal mechanism is configured to remove gas from the cavity to create a suction force to connect the surface of the object to the vacuum gripper; pressure alarm, wherein the pressure alarm signal is configured to generate a first alarm signal when the pressure level in the cavity exceeds a specified value; a manual mechanism designed to maintain the operation of the air removal mechanism, moreover, the manual mechanism is designed with the possibility of manual removal of gas from the cavity by a person; a battery configured to supply power to the air removal mechanism, wherein the battery is located in the handle connected to the base element; battery alarm connected to the battery, wherein the battery alarm is configured to generate a second alarm when the battery power level is below a predetermined value; a controller capable of regulating the air removal mechanism, wherein the controller is configured to switch off the air removal mechanism when the pressure level in the cavity reaches a predetermined pressure level or when the rate of pressure reduction in the cavity reaches a predetermined level, wherein the controller is configured to enable the air removal mechanism to be activated when the pressure level in the cavity is below a specified pressure level; thrust rod, wherein the thrust rod is designed with the possibility of a detachable connection with the body of the vacuum gripper, wherein the size of the stop rod is smaller than the size of the hole so that the stop rod can be pressed at an angle from the vertical direction to the step; and wherein the first part is designed with the possibility of deformation with a less localized profile than the second part during point indentation.