# US 10,119,642 B2 · Vacuum coupling for robot arm > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,119,642 B2 - Document ID: US10119642B2 - Status: Granted - Kind: B2 - Application number: 14/302,519 - Filed: 2014-06-12 - Published: 2014-12-18 - Granted: 2018-11-06 - Earliest claimed: 2013-06-14 - Assignees: Intelligrated Headquarters, LLC - Applicants: Intelligrated Headquarters, LLC - Inventors: Michael Girtman - Web page: https://patentgrep.com/patent/US10119642B2 ## CPC - F16L 27/087: Joints with radial fluid passages - B25J 19/0041: {having rotary connection means} - F16L: PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A vacuum coupling applies vacuum from a vacuum source to a rotating tool attached to a rotating end of a robotic arm. The vacuum coupling includes a rotating portion attaching the rotating tool to the rotating end of the robotic arm. The rotating portion communicates vacuum with the rotating tool. A fixed portion is positioned around the rotating portion such that the rotating portion is rotatable relative to the fixed portion. The fixed portion communicates vacuum to the rotating portion. At least one rotating vacuum seal is positioned between the fixed portion and the rotating portion. ## Claims ### Claim 1 A vacuum coupling configured to apply vacuum from a vacuum source to a rotatable vacuum tool, the rotatable vacuum tool being attached to a rotatable end of a robotic arm, the vacuum coupling comprising: a fixed portion coupled with the vacuum source; a rotating portion extending through the fixed portion, wherein the rotating portion is rotatable relative to the fixed portion, wherein the rotating portion comprises a first end coupled with the rotating end of the robotic arm and a second end coupled with the rotatable vacuum tool; and at least one seal between the fixed portion and the rotating portion wherein the at least one seal comprises a fixed vacuum seal and a rotating vacuum seal, wherein one of the fixed vacuum seal and the rotating vacuum seal forms a seal with the fixed portion and the other of the fixed vacuum seal and the rotating vacuum seal forms a seal with the rotating portion. ### Claim 2 (depends on 1) The vacuum coupling of claim 1, wherein the rotating portion comprises a vacuum plenum passing through the fixed portion. ### Claim 3 (depends on 2) The vacuum coupling of claim 2, wherein a hollow of the vacuum plenum is operably connected to the rotatable vacuum tool. ### Claim 4 (depends on 2) The vacuum coupling of claim 2, wherein the vacuum plenum comprises a plurality of openings for communicating vacuum from the fixed portion to the hollow of the vacuum plenum and to the rotatable vacuum tool. ### Claim 5 (depends on 2) The vacuum coupling of claim 2, wherein the vacuum plenum comprises a step configured to maintain axial position of the rotating portion relative to the fixed portion. ### Claim 6 (depends on 1) The vacuum coupling of claim 1, wherein the rotating portion comprises a flange for coupling the rotating portion with the rotating end of the robotic arm. ### Claim 7 (depends on 1) The vacuum coupling of claim 1, wherein the rotating portion comprises a flange coupling the rotating portion with the rotating tool. ### Claim 8 (depends on 1) The vacuum coupling of claim 1, wherein the rotating portion comprises a first flange located at a first end of the rotating portion and a second flange located at an opposing end of the rotating portion from the first flange. ### Claim 9 (depends on 1) The vacuum coupling of claim 1, wherein the fixed portion is coupled with a first portion of the robotic arm that does not rotate. ### Claim 10 (depends on 9) The vacuum coupling of claim 9 further comprising a bracket for coupling the fixed portion with the first portion of the robotic arm. ### Claim 11 (depends on 1) The vacuum coupling of claim 1, wherein the fixed portion comprises a manifold defining an opening extending through the manifold. ### Claim 12 (depends on 11) The vacuum coupling of claim 11, wherein the rotating portion is positioned through the opening of the manifold. ### Claim 13 (depends on 11) The vacuum coupling of claim 11, wherein the manifold comprises a port coupled with a vacuum source. ### Claim 14 (depends on 13) The vacuum coupling of claim 13, wherein the port is positioned through a side wall of the manifold. ### Claim 15 (depends on 1) The vacuum coupling of claim 1, wherein the fixed portion comprises at least one annular vacuum seal positioned in contact with the rotating portion to form the at least one seal. ### Claim 16 (depends on 15) The vacuum coupling of claim 15, wherein the at least one annular vacuum seal comprises a first annular vacuum seal positioned at a first end of the fixed portion and a second annular vacuum seal positioned on an opposing end of the fixed portion. ### Claim 17 (depends on 15) The vacuum coupling of claim 15, wherein the fixed portion comprises at least one manifold plate retaining the at least one annular vacuum seal. ### Claim 18 (depends on 17) The vacuum coupling of claim 17, wherein the fixed portion comprises at least one clamp plate coupling the at least one manifold plate to the fixed portion. ### Claim 19 (depends on 1) The vacuum coupling of claim 1, wherein the fixed portion is fixed to a second portion of the robot arm with an anti-rotation bracket and does not rotate with the rotating end of the rotating portion of the robot arm.