End effector device and system for suction-based grasping of bagged objects

An end effector system comprising:

• a first end effector that comprises:
• a body structure with a vacuum line opening and an object engagement region, the vacuum line opening being configured to couple at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure;
• the body structure comprising a suction cup system that comprises a flexible sealing lip at the object engagement region;
• the body structure comprising an internal structure defining a concave inner chamber with a chamber opening at the object engagement region, the chamber opening being positioned within a grasping region of the sealing lip;
• the internal structure comprising an array of inlets positioned along at least one wall of the concave inner chamber, wherein each inlet defines an opening in the body structure to the defined internal channel, the internal structure further comprising a plurality of air channels, each of which defines an opening in the internal structure between the defined internal channel and the object engagement region;
• wherein flow to controllably engage an object at the object engagement region may be sequenced from the vacuum line opening, to the defined internal channel, through the array of inlets to the concave inner chamber, and through the plurality of air channels to the object engagement region;
• and
• a second end effector;
• wherein the second end effector comprises a second body structure comprising a second internal structure defining a second concave inner chamber with a second chamber opening;
• the second internal structure comprising a second array of inlets positioned along at least one wall of the second concave inner chamber;
• wherein the chamber opening of the first end effector has a diameter different from the second chamber opening of the second end effector.

An end effector system comprising:

• a first end effector that comprises:
• a body structure with a vacuum line opening and an object engagement region, the vacuum line opening being configured to couple at least one pressure line of a vacuum pressure system to a defined internal channel of the body structure;
• the body structure comprising a suction cup system that comprises a flexible sealing lip at the object engagement region;
• the body structure comprising an internal structure defining a concave inner chamber with a chamber opening at the object engagement region, the chamber opening being positioned within a grasping region of the sealing lip;
• the internal structure comprising an array of inlets positioned along at least one wall of the concave inner chamber, wherein each inlet defines an opening in the body structure to the defined internal channel, the internal structure further comprising a plurality of air channels, each of which defines an opening in the internal structure between the defined internal channel and the object engagement region;
• wherein flow to controllably engage an object at the object engagement region may be sequenced from the vacuum line opening, to the defined internal channel, through the array of inlets to the concave inner chamber, and through the plurality of air channels to the object engagement region;
• and
• a second end effector;
• wherein the array of inlets comprises a first subset of inlets positioned along a wall of the internal structure that is opposite the chamber opening;
• wherein the array of inlets further comprises at least a second subset of inlets along a second wall of the concave inner chamber, wherein the second subset of inlets is defined at an orientation different from an orientation of the first subset of inlets.