# US 11,027,437 B2 · Apparatus, system and method for providing a conformable vacuum cup for an end effector > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,437 B2 - Document ID: US11027437B2 - Status: Granted - Kind: B2 - Application number: 16/726,396 - Filed: 2019-12-24 - Published: 2020-07-02 - Granted: 2021-06-08 - Earliest claimed: 2016-12-15 - Assignees: Jabil Inc. - Applicants: Jabil Inc. - Inventors: Jeroen Bosboom; Richard Munro; Tatiana Pankova Major - Web page: https://patentgrep.com/patent/US11027437B2 ## CPC - B25J 15/0683: {Details of suction cup structure, e.g. grooves or ridges} - B25J 15/0014: {having fork, comb or plate shaped means for engaging the lower surface on a object to be transported} - B25J 15/0616: {with vacuum} - B25J 15/0691: {Suction pad made out of porous material, e.g. sponge or foam} - H10P 72/7602: {the wafers being placed on a robot blade or gripped by a gripper for conveyance} - H10P 72/78: using vacuum or suction, e.g. Bernoulli chucks - 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}) - H10P: GENERIC PROCESSES OR APPARATUS FOR THE MANUFACTURE OR TREATMENT OF DEVICES COVERED BY CLASS H10 ## Abstract An apparatus, system and method for providing a vacuum grip for an end effector. The apparatus, system and method may include a vacuum draw eyelet connectively associated with a vacuum at a base portion thereof, and having a larger cross-sectional circumference at a topmost portion thereof than at the base portion; an extending cup foam portion including a receiving portion suitable for receiving therewithin the larger cross-sectional circumference of the topmost portion; and a wire clip having two legs inserted along a cross-sectional plane of the extending cup foam portion, the two legs being suitable to compress the receiving portion into frictional contact at two tangent points on a second cross-sectional circumference of the vacuum draw eyelet below the larger cross-sectional circumference. ## Claims ### Claim 1 A vacuum grip for an end effector, comprising: an eyelet communicatively associated with a vacuum, and having a groove substantially circumferentially thereabout; an extending foam cup including an inner circumference suitable for receiving therein at least the groove; and a wire clip comprising two legs each having a pointed end for insertion along a cross-sectional plane of the extending foam cup, the two legs being suitable to compress the receiving inner circumference into frictional contact with the groove upon the insertion of both of the pointed ends. ### Claim 2 (depends on 1) The vacuum grip of claim 1, wherein the wire clip comprises stainless steel. ### Claim 3 (depends on 2) The vacuum grip of claim 2, wherein the at least one vacuum draw eyelet comprises at least three vacuum draw eyelets. ### Claim 4 (depends on 1) The vacuum grip of claim 1, wherein the extending foam cup is comprised of silicon. ### Claim 5 (depends on 1) The vacuum grip of claim 1, wherein the wire clip further comprises a leg-joining portion capable of receiving force to insert the wire clip. ### Claim 6 (depends on 1) The vacuum grip of claim 1, wherein the wire clip further comprises overlapped ends of the legs to close the wire clip at a distal point from the insertion. ### Claim 7 (depends on 1) The vacuum grip of claim 1, wherein the groove is substantially midway between a top plane and a bottom plane of the vacuum draw eyelet. ### Claim 8 (depends on 1) The vacuum grip of claim 1, wherein the vacuum draw eyelet comprises one of rubber and plastic. ### Claim 9 (depends on 1) The vacuum grip of claim 1, wherein the vacuum draw eyelet in combination with the extending foam cup has a total height in a range of 1 mm to 5 mm. ### Claim 10 (depends on 9) The vacuum grip of claim 9, wherein the total height is about 2 mm. ### Claim 11 (depends on 1) The vacuum grip of claim 1, further comprising a second wire clip having a second two legs inserted to the groove substantially perpendicular to the two legs. ### Claim 12 (depends on 1) The vacuum grip of claim 1, further comprising a distal end of the end effector to which the vacuum draw eyelet is mounted. ### Claim 13 (depends on 1) The vacuum grip of claim 1, wherein the distal end comprises a fork distal end. ### Claim 14 (depends on 1) The vacuum grip of claim 1, wherein the extending foam cup comprises an open cell format. ### Claim 15 An end effector, comprising: a bearing arm; an intermediate portion connected on a first end to the bearing arm; a distal end connected to the intermediate portion on a second end of the intermediate portion, and comprising: at least one vacuum eyelet communicatively associated with a vacuum, and having a groove substantially circumferentially thereabout; an extending foam cup including an a inner circumference suitable for receiving therein at least the groove; and a wire clip comprising two legs each having pointed ends inserted along a cross-sectional plane of the extending foam cup, the two legs being suitable to compress the receiving inner circumference into frictional contact with the groove upon the insertion. ### Claim 16 (depends on 15) The end effector of claim 15, wherein the intermediate portion includes at least one angular portion. ### Claim 17 (depends on 15) The end effector of claim 15, wherein the bearing arm comprises a robotic flange and electromechanical elements to engage the robotic flange. ### Claim 18 (depends on 15) The end effector of claim 15, wherein the groove is substantially midway between a top plane and a bottom plane of the vacuum draw eyelet. ### Claim 19 (depends on 15) The end effector of claim 15, wherein the vacuum draw eyelet comprises one of rubber and plastic. ### Claim 20 (depends on 15) The end effector of claim 15, wherein the vacuum draw eyelet in combination with the extending foam cup has a total height of about 2 mm.