WO2024013676A1

WO2024013676A1 - Vacuum-driven translating suction cup

Info

Publication number: WO2024013676A1
Application number: PCT/IB2023/057153
Authority: WO
Inventors: Julien Pierre; Vincent COLLOT; Dimitri MADRAS-RAIN
Original assignee: B+ Equipment Sas
Priority date: 2022-07-14
Filing date: 2023-07-12
Publication date: 2024-01-18

Abstract

An engagement device includes a cylinder, a piston, a suction device, and a biasing mechanism. A port of the cylinder is in fluid communication with an interior of the cylinder. The piston can slide within the interior of the cylinder between retracted and extended positions. A bore of the piston is in fluid communication with the interior of the cylinder. The suction device is coupled to a proximal end of the piston and in fluid communication with the bore of the piston. The biasing mechanism biases the piston to the extended position. The bore has a reduced diameter at the proximal end compared to a diameter between the proximal and distal ends. The reduced diameter causes the pressure in the interior of the cylinder and the bore of the piston to be reduced when a vacuum is drawn through the port so the piston slides to the extended position.

Description

VACUUM-DRIVEN TRANSEATING SUCTION CUP

SPECIFICATION

BACKGROUND

[0001] The present disclosure is in the technical field of engagement devices. More particularly, the present disclosure is directed to engagement devices that are moved a retracted position to an extended position by a vacuum selectively applied to the engagement devices.

[0002] Engagement devices can be used to engage and hold objects. For example, suction cups having a vacuum drawn therein can engage a surface of an object. Such engagement can be done to hold the object in a given location or to move the object. When controlled appropriately, such engagement devices can be used in the manufacture or packaging of such objects to selectively engage the surface of the object to hold the object and/or move the object during a manufacturing or packaging process.

[0003] In some examples, the object can be a shipping container (e.g., a corrugated cardboard box) in the process of being packed for shipping an item or items container therein. In these examples, the engagement devices may engage one or more sides of the shipping container while the shipping container is being packaged. For example, the engagement devices may engage the shipping container during one or more of the following processes: initial forming of the container by folding and/or taping of the bottom of the shipping container; loading of item(s), cushioning materials, and/or void fill materials into the shipping container; closing of the shipping container by folding and/or taping of the top of the shipping container; printing and/or labeling on the shipping container; and any other packaging process. SUMMARY

[0004] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0005] In a first embodiment, an engagement device includes a cylinder having an interior and a port. The port is couplable to a vacuum source and the port is in fluid communication with the interior of the cylinder. The engagement device further includes a piston located in the interior of the cylinder. The piston is capable of sliding within the interior of the cylinder between a retracted position and an extended position. The piston includes a proximal end, a distal end, and a bore. The bore is in fluid communication with the interior of the cylinder. The engagement device further includes a suction device coupled to the proximal end of the piston and in fluid communication with the bore of the piston. The engagement device further includes a biasing mechanism configured to bias the piston to the retracted position. The piston has a reduced diameter compared to a diameter between the proximal and distal ends such that, when the port of the cylinder is coupled to the vacuum source and the vacuum source draws a vacuum through the interior of the cylinder and the bore of the piston, the reduced diameter of the piston causes the pressure in the interior of the cylinder to be reduced to exert a force on the piston that is greater than a force of the biasing mechanism so that the piston extends from the retracted position to the extended position.

[0006] In a second embodiment, the biasing mechanism of the first embodiment is a compression spring located in the interior of the cylinder.

[0007] In a third embodiment, the compression spring of the second embodiment is wound around the piston.

[0008] In an fourth embodiment, the engagement device of any of the previous embodiments further includes an O-ring located in the interior of the cylinder. The O-ring is positioned in the interior of the cylinder so that the piston is in contact with the O-ring when the piston is in the extended position. [0009] In a fifth embodiment, the reduced diameter of the bore of any of the previous embodiments at the proximal end is at least 0.04 inches (1 mm) smaller than the diameter between the proximal and distal ends.

[0010] In a sixth embodiment, the piston of any of the previous embodiments comprises a first piece and a second piece that are coupled together. The reduced diameter of the bore is located in the first piece. The diameter between the proximal and distal ends is in the second piece.

[0011] In a seventh embodiment, the engagement device of any of the previous embodiments further includes a bearing located between the cylinder and the piston. The piston is configured to slide through the bearing while sliding between the retracted position and the extended position.

[0012] In an eighth embodiment, the bore of the piston of any of the previous embodiments is in fluid communication with the interior of the cylinder via a through hole in the piston.

[0013] In a ninth embodiment, the reduced diameter of the piston of the eighth embodiment is the through hole in the piston.

[0014] In a tenth embodiment, the reduced diameter of any of the previous embodiments is located at the proximal end of the piston.

[0015] In an eleventh embodiment, a system includes a plurality of engagement devices. Each of the plurality devices is the engagement device of any of the previous embodiments. The system further includes a vacuum source in fluid communication independently with each of the engagement devices. The vacuum source is configured to selectively draw a vacuum in each of the plurality of engagement devices such that piston of each of one or more of the engagement devices slides from the retracted position to the extended position to engage an object.

[0016] In a twelfth embodiment, the engagement devices in the plurality of engagement devices of the eleventh embodiment are arranged in a single direction such that the suction devices of the plurality of engagement devices are arranged to contact a planar surface of the object. [0017] In a thirteenth embodiment, the plurality of engagement devices of any of the eleventh to twelfth embodiments includes a first set of engagement devices and a second set of engagement devices. The engagement devices in the first set of engagement devices are arranged in a first direction such that the suction devices of the plurality of engagement devices are arranged to contact a first planar surface of the object. The engagement devices in the second set of engagement devices are arranged in a second direction such that the suction devices of the plurality of engagement devices are arranged to contact a second planar surface of the object.

[0018] In a fourteenth embodiment, the first direction of the thirteenth embodiment is substantially perpendicular to the second direction.

[0019] In a fifteenth embodiment, the first planar surface of the object of the fourteenth embodiment is substantially perpendicular to the second planar surface of the object.

[0020] In a sixteenth embodiment, the system of any of the eleventh to fifteenth embodiments further includes a plurality of valves. The independent fluid communication between the vacuum source and each of the plurality of engagement devices includes one of the plurality of valves.

[0021] In a seventeenth embodiment, the system of the sixteenth embodiment further includes a computing device in communication with the plurality of valves. The computing device is configured to control the plurality of valves to control the selective drawing of the vacuum by the vacuum source in each of the plurality of engagement devices.

[0022] In an eighteenth embodiment, the system of any of the eleventh to fifteenth embodiments includes a single valve located between the vacuum source and the plurality of engagement devices.

[0023] In a nineteenth embodiment, the system of the eighteenth embodiment further includes a computing device in communication with the single valve. The computing device is configured to control the single valve to control the selective drawing of the vacuum by the vacuum source in the plurality of engagement devices.

[0024] In a twentieth embodiment, the one or more of the engagement devices of any of the eleventh to nineteenth embodiments are arranged to hold the object at the location of the suction devices when the pistons of the one or more of the engagement devices are at the extended position.

[0025] In a twenty first embodiment the vacuum source of any of the eleventh to twentieth embodiments is further configured to stop drawing the vacuum in the one or more of the engagement devices such that the one or more of the engagement devices disengages from the object and the piston of each of the one or more of the engagement devices retracts from the extended position to the retracted position.

BRIEF DESCRIPTION OF THE DRAWING

[0026] The foregoing aspects and many of the attendant advantages of the disclosed subject matter will become more readily appreciated as the same become better understood by reference to the following detailed description, when taken in conjunction with the accompanying drawings, wherein:

[0027] Fig. 1 depicts a perspective view of an example of a prior art engagement device system;

[0028] Figs. 2 and 3 depict top views of instance of movement of the engagement devices in the system shown in Fig. 2 and 3;

[0029] Figs. 4 and 5 depict perspective and cross-sectional views, respectively, of an engagement device, in accordance with the embodiments described herein;

[0030] Fig. 6 and 7 depict cross-sectional views of the engagement device shown in Figs. 4 and 5, and instances of an embodiment of how the reduced diameter at the proximal end of the bore causes the piston to extend from the retracted position to the extended position, in accordance with the embodiments described herein;

[0031] Figs. 8 and 9 depict cross-sectional views of the engagement device shown in Figs. 6 and 7 as the engagement device interacts with an object, in accordance with the embodiments described herein;

[0032] Fig. 10 depicts an embodiment of a system that includes multiple engagement devices, in accordance with the embodiments described herein; [0033] Fig. 11 depicts an instance of the system shown in Fig. 11 where the computing device has opened some of the valves and the pistons of the corresponding engagement devices have moved to the extended position so that their suction devices have engaged the object, in accordance with the embodiments described herein;

[0034] Fig. 12 depicts an embodiment of a system that is capable of engaging objects in multiple dimensions, in accordance with the embodiments described herein;

[0035] Fig. 13 depicts an embodiment of a system that is similar to the system shown in Fig.

11 except that the system in Fig. 13 includes one valve located between the vacuum source and all of the engagement devices, in accordance with the embodiments described herein;

[0036] Fig. 14 depicts an embodiment of a system that is similar to the system shown in Fig.

12 except that the system shown in Fig. 14 includes one valve located between the vacuum source and all of the engagement devices, in accordance with the embodiments described herein;

[0037] Fig. 15 depicts an example embodiment of a system that may be used to implement some or all of the embodiments described herein; and

[0038] Fig. 16 depicts a block diagram of an embodiment of a computing device, in accordance with the embodiments described herein.

DETAILED DESCRIPTION

[0039] Engagement device systems have been developed in the past. However, these systems suffer from many drawbacks. Fig. 1 depicts a perspective view of an example of a prior art system 100 of engagement devices. The system 100 includes a support structure 102 and a movable bracket 104. The movable bracket 104 is coupled to the support structure by a guide system 106 that includes two guide shafts capable of sliding with respect to the support structure 102. The ends of the guide shafts of the guide system 106 are connected to the movable bracket 104. The system also includes a pressure -driven cylinder system 108. The pressure-driven cylinder system 108 can be an electric system, a pneumatic system, or a hydraulic system. The pressure-driven cylinder system 108 includes a piston that is coupled to the movable bracket 104. The pressure in the pressure-driven cylinder system 108 can be controlled to control the position and movement of the movable bracket 104. The guide shafts of the guide system 106 support the movable bracket 104 while the movable bracket 104 is moved by the pressure-driven cylinder system 108.

[0040] The system 100 also includes engagement devices HOi, I IO2, I IO3, I IO4, I IO5, 110e, and 1 IO7 (collectively engagement devices 110). Each of the engagement devices 110 is a suction cup or a suction bellows. The engagement devices 110 are connected to a common shaft 112, which is connected to the movable bracket 104. Movements of the movable bracket 104 cause corresponding movement of the common shaft 112 and the engagement devices 110. The engagement devices 110 can be fluidly coupled to a vacuum source (not shown) that draws a vacuum inside of the engagement devices 110 to enable the engagement devices 110 to engage an object. For example, each of the engagement devices can be in fluid communication with a bore inside of the common shaft 112 and the common shaft 112 can be fluidly coupled to the vacuum source.

[0041] Figs. 2 and 3 depict top views of instance of movement of the engagement devices 110 in the system 100. In Fig. 2, the movable bracket 104, the common shaft 112, and the engagement devices 110 are in a retracted position. In this particular example the ends of the engagement devices are behind the ends of the support structure 102. From that point, the engagement devices 110 can be extended, such as to engage an object. In Fig. 3, the movable bracket 104, the common shaft 112, and the engagement devices 110 have been moved by the pressure-driven cylinder system 108 to an extended position. In the extended position, the engagement devices 110 are in front of the ends of the support structure 102 so that the engagement devices 110 can engage an object 150. The vacuum source can also draw a vacuum in the engagement devices 110 so that the engagement devices 110 that are in contact with the object 150 engage the object 150. The engagement of the object 150 by the engagement devices 110 allows the object 150 to be held in place and/or moved by the engagement devices 110.

[0042] The system 100 shown in Figs. 1-3 has a number of drawbacks. One drawback is the number of machined parts that are included in the system. In addition to the machined parts in the engagement devices 110, the support structure 102, the guide system 106, and the pressure-driven cylinder system 108 all have multiple machines parts. Having many machined parts makes the system 100 more expensive, more prone to failures, and more difficult to repair. Another drawback to the system is that the engagement devices 110 all move together and cannot be moved independently. It may be possible to modify the system 100 to move the engagement devices 110 independently (e.g., by adding a separate actuator to drive each of the engagement devices 110), but such modifications would significantly increase the number of machined parts and the cost and complexity of the system 100. Another drawback of the system 100 is that the engagement devices 110 are coupled to the same vacuum source such that the engagement devices 110 which do not contact the object 150 act as leaks in the vacuum and weaken the strength of those engagement devices 110 that are in contact with the object 150. For example, in Fig. 3, engagement devices 110i, 1 IO2, and 1 IO3 are not in contact with the object 150 while the engagement devices 1 IO4, 1 IO5, 1 lOe, and 1 IO7 are in contact with the object 150. In this arrangement, the vacuum drawn though the common shaft 112 leaks through the engagement devices 1101, 1 IO2, and 1 IO3, which weakens the strength of the vacuum drawn in the engagement devices 1 IO4, 1 IO5, 1 lOe, and 1 IO7. It would be advantageous for an engagement device and/or a system of engagement devices to overcome these and other drawbacks of the system 100. In addition, the vacuum aspect of the system 100 has little room for error; even if one of the engagement devices 100 is damaged or otherwise cannot contain the vacuum, the entire system 100 becomes inoperative. The loss of vacuum through even one of the engagement devices 100 results in a leak in the vacuum such that the pressure in the remaining engagement devices is not low enough to provide proper suction against the object 150.

[0043] Figs. 4 and 5 depict perspective and cross-sectional views, respectively, of an engagement device 200. The engagement device 200 includes a cylinder 202 and a piston 204. The engagement device 200 also includes a suction device 206 coupled to a proximal end of the piston 204. The piston 204 is shown in a retracted position in Figs. 4 and 5 and can slide through the cylinder 202 to extend from the retracted position to an extended position (as described in greater detail below). As the piston 204 moves, the suction device 206 on the proximal end of the piston also moves, thus causing movement of the suction device 206 from a retracted position to an extended position. In the depicted embodiment, the suction device 206 is a suction bellows. In other embodiment, the suction device 206 can be a suction cup or any other shape capable of engaging a surface of an object. In some embodiments, the cylinder 202 and piston 204 are made from a rigid or substantially -rigid material (e.g., metal or rigid plastic) while the suction device 206 is made from a resilient material (e.g., rubber or flexible plastic). [0044] The cylinder 202 includes an interior 208 and a port 210. In the depicted embodiment, the interior 208 of the cylinder 202 is a bore that had portions of different diameters. In particular, the bore has a first diameter at the proximal end of the cylinder 202 (e.g., on the left when viewing Fig. 5), a second diameter between the proximal and distal ends of the cylinder, and a third diameter at the distal end of the cylinder 202 (e.g., on the right when viewing Fig. 5), where the first diameter is smaller than the second diameter and the second diameter is smaller than the third diameter. The port 210 is in fluid communication with the interior 208 of the cylinder 202. The port 210 is capable of being connected to a fitting 212 of a vacuum line. In this way, the port 210 is couplable to a vacuum source (not shown) so that the vacuum source can draw a vacuum in the interior 208 of the cylinder 202.

[0045] The engagement device 200 further includes a biasing mechanism 214 that biases the piston toward the retracted position. In the depicted embodiment, the biasing mechanism 214 is a compression spring that is wound around the piston 204 and exerts a force on the distal end of the piston 204 toward the retraction position (e.g., toward the distal end of the cylinder 202). In other embodiments, the biasing mechanism 214 can be any other devices that biases the piston to the toward the retraction position. In the depicted embodiment, the engagement device 200 further includes an O-ring 216 in the interior 208 of the cylinder 202. The O-ring 216 is positioned so that the piston 204 is in contact with the O-ring 216 when the piston 204 is in the extended position (as discussed below). The O-ring 216 is not a necessary aspect of the engagement devices described herein. However, when included, the O-ring 216 can increase the effectiveness of the vacuum drawn by the vacuum source when the piston 204 is in the extended position.

[0046] The piston 204 includes a bore 218. The bore 218 is closed by the distal end of the piston 204 (i.e., the end of the piston 204 on the right when viewing Fig. 5) and is open at the proximal end of the piston 204 (i.e., the end of the piston 204 on the right when viewing Fig. 5). In the depicted embodiment, the piston 204 includes a first piece 220 and a second piece 222. The first piece 220 includes a bore 224 and the second piece 222 include a bore 226. In the depicted embodiment, the diameter of the bore 226 of the second piece 222 is smaller than the diameter of the bore 224 of the first piece 220. In the depicted embodiment, the suction device 206 is connected to the second piece 222 of the piston 204 at the proximal end of the piston 204. In other embodiments, the piston 204 can be formed from a single piece. In some embodiment, a piston 204 formed from a single piece can have either a constant diameter or multiple portions within different diameters (e.g., a reduced diameter at the proximal end of the piston 204).

[0047] The bore 218 of the piston 204 is in fluid communication with the interior 208 of the cylinder 202. In the depicted embodiment, the piston 204 includes a through hole 228. The bore 218 of the piston 204 is in fluid communication with the interior 208 of the cylinder 202 via the through hole 228 in the piston 204. Because the piston 204 is in fluid communication with the interior 208 of the cylinder 202, a vacuum drawn in the interior 208 of the cylinder 202 (e.g., via the port 210) will likewise be drawn through the bore 218 of the piston 204. The bore 218 of the piston 204 is also in fluid communication with the suction device 206 so that a vacuum drawn in the interior 208 of the cylinder 202 and the bore 218 of the piston 204 will likewise be drawn in the suction device 206.

[0048] A portion of the piston 204 has a reduced diameter. In some embodiments, the proximal end of the piston 204 has a reduced diameter compared to a diameter of the bore 218 between the proximal and distal ends of the piston 204. For example, in the depicted embodiment, the bore 226 of the second piece 222 at the proximal end of the piston 204 is reduced compared to the bore 224 of the first piece 220. In some embodiments, the reduced diameter of the bore 218 is the diameter of the through hole 228 which is reduced compared to the diameter of the bore 218 between the distal and proximal ends of the piston 204. The reduced diameter of the piston 204 aids in the operation of the engagement device 200, as discussed below. In some embodiments, the diameter of the reduced diameter of the piston 204 of the engagement devices 300 is less than or equal to one or more of 2 mm (79 mils), 1.5 mm (59 mils), 1.0 mm (39 mils), or 0.5 mm (20 mils). The reduced diameter of the piston 204 aids in the operation of the engagement device 200, as discussed below.

[0049] In the depicted embodiment, the engagement device 200 further includes a bearing 230 located between the cylinder 202 and the piston 204. The bearing 230 is fixedly coupled to the interior 208 of the cylinder 202 near the proximal end of the cylinder 202. The piston 204 passes through the interior of the bearing 230. The piston 204 is configured to slide through the bearing 230 while sliding between the retracted position and the extended position. In some embodiments, the friction between the material of the piston 204 and the material of the bearing 230 is less than the friction that would be present between the material of the piston 204 and the material of the cylinder 202 if the piston 204 and the cylinder 202 were in direct contact with each other.

[0050] Figs. 6 and 7 depict cross-sectional views of the engagement device 200 and instances of an embodiment of how the reduced diameter at the proximal end of the bore 218 causes the piston 204 to extend from the retracted position to the extended position. In Fig. 6, the piston 204 is in the retracted position, with the force of the biasing mechanism 214 biasing the piston 204 to the retracted position. At the instance shown in Fig. 6, a vacuum has begun to be drawn in the engagement device 200. In particular, a dashed arrow shows the path of evacuation of gas from the suction device 206, through the bore 218 of the piston 204, through the through hole 228 in the piston 204, through the interior 208 of the cylinder 202, and through the fitting 212. The vacuum can be drawn by a vacuum source that is in fluid communication with the fitting 212.

[0051] As the vacuum continues to be drawn in the engagement device 200, the reduced diameter of the proximal end of the bore 218 causes the pressure in the interior 208 of the cylinder 202 and the bore 218 of the piston 204 to be reduced. The pressure is reduced in the interior 208 of the cylinder 202 and the bore 218 of the piston 204 below a pressure of the ambient environment outside of the engagement device 200. The pressure differential between the pressure in the interior 208 of the cylinder 202 and the pressure of the ambient environment outside of the engagement device 200 causes a force to be exerted on the piston 204. In the depicted embodiment, the force is exerted on the distal end of the piston 204 (e.g., the right side of the piston 204 when viewing Fig. 6) in a direction toward the proximal end of the piston 204 (e.g., toward the left when viewing Fig. 6). In the depicted embodiment, the force exerted on the piston 204 by the pressure differential is in a direction opposite of the direction of the force exerted by the biasing mechanism 214 on the piston 204. As the vacuum continues to be drawn by the vacuum source, the pressure differential will increase until the force exerted on the piston 204 by the pressure differential overcomes the force exerted on the piston 204 by the biasing mechanism 214. Once that occurs, the piston 204 will begin to extend from the retracted position (e.g., the position shown in Fig. 6) toward the extended position. [0052] In the depicted embodiment, the reduced diameter of the piston 204 is provided by the bore 226 of the second piece 222 of the piston 204. In some embodiments, the second piece 222 of the piston 204 can be replaced with another second piece that has a bore with a different diameter. In this way, the reduced diameter of the piston 204 can be selected by selecting, for use with the piston 204, a second piece that has a desired bore diameter. For example, the second pieces can have bore diameters of one or more of 2 mm (79 mils), 1.5 mm (59 mils), 1.0 mm (39 mils), or 0.5 mm (20 mils). Regardless of the location of the reduced diameter in the piston 204, the selection of the diameter in the reduced diameter can allow a user to “tune” the vacuum system to achieve a desired response to a vacuum being drawn in the engagement device 200. In some cases, the “tuning” of the vacuum system can be accomplished by selecting a reduced diameter from among different diameters at steps of 0.1mm.

[0053] Fig. 7 depicts an instance where the piston 204 is in the extended position. As can be seen, the piston 204 has been translated toward the proximal end of the engagement device 200 (e.g., toward the left when viewing Fig. 7). In the depicted embodiment, the piston 204 has slid until the piston 204 is in contact with the O-ring 216 in the interior 208 of the cylinder 202. In this position, the suction device 206 on the proximal end of the piston 204 has extended away from the cylinder 202. In addition, the contact between the O-ring 216 and the piston 204 has improved the seal between the piston 204 and the cylinder 202 so that the pressure in the interior 208 of the cylinder 202 and the bore 218 of the piston 204 can be reduced even further. When the suction device 206 is engaged with an object and the piston 204 is in the extended position, the lower pressure in the bore 218 of the piston 204 causes a greater suction force between the suction device 206 and the object. In some embodiments, the piston 204 will remain in the extended position as long as the vacuum continues to be drawn in the engagement device 200 by the vacuum source. It will be apparent that the suction device will be operative to suction to a objection regardless of the position (e.g., the extended position or the retracted position) of the piston 204.

[0054] Figs. 8 and 9 depict cross-sectional views of the engagement device 200 similar to those shown in Figs. 6 and 7, respectively, as the engagement device 200 interacts with an object 240. For example, the piston 204 is in the retracted position in Fig. 8 and the piston 204 is in the extended position in Fig. 9. At the instance shown in Fig. 8, a vacuum has started to be drawn in the engagement device 200. The vacuum causes the piston 204 to extend from the retracted position shown in Fig. 8 to the extended position shown in Fig. 9, similar to the way in which that movement is described with respect to Figs. 6 and 7 above.

[0055] In Fig. 8, the object 240 is located at a distance away from the suction device 206 of the engagement device 200 while the piston 204 is at the retracted position. Because the object 240 is located at a distance away from the suction device 206, the suction device 206 has not engaged the object 240 in Fig. 8. At the instance shown in Fig. 9, the piston 204 has moved to the extended position and the suction device 206 is in contact with the object 240. With the vacuum being drawn in the engagement device 200 by the vacuum source and the suction device 206 in contact with the object 240, the suction device 206 has engaged the object 240. The engagement of the object 240 by the suction device 206 deters movement of the object 240 with respect to the suction device 206. In the depicted embodiment, the object 240 is located closer to the cylinder 202 in Fig. 8 than in Fig. 9. The movement of the piston 204 from the retracted position to the extended position in this example has caused the object 240 to be moved until the piston 204 reached the extended position. In other cases, the piston 204 may not be able to move the object 240 (e.g., due to the weight of the object 240, due to the object 240 being held by some other mechanism, etc.), in which case the further extent of the movement of the piston 204 permitted by the object 240 becomes the extended position of the piston 204.

[0056] From the instance shown in Fig. 9, the vacuum in the engagement device 200 may be discontinued. For example, the vacuum source can stop drawing the vacuum in the engagement device 200. When the vacuum in the engagement device 200 is discontinued, pressure in the interior 208 of the cylinder 202 and the bore 218 of the piston 204 will increase and begin to normalize with the ambient pressure. This reduction of the pressure differential has two effects. First, the suction device 206 will no longer exert a force on the object 240 due to the lower pressure in the suction device 206 so that the suction device 206 disengages from the object 240. Second, the force exerted on the piston 204 by the pressure differential will decrease until the force exerted on the piston 204 by the biasing mechanism overcomes the force exerted by the pressure differential. At that point, the piston 204 will retract from the extended position to the retracted position so that the suction device 206 is no longer in contact with the object 240. After one or both of those effects occurs, movement of the object 240 will no longer be deterred by the engagement device 200.

[0057] The engagement device 200 can be used alone, as shown in Figs. 8 and 9. The engagement device 200 can also be used in a system with multiple engagement devices. When multiple engagement devices are used in the same system, the engagement devices can be used to engage and object in multiple locations. In some embodiments, the engagement devices can be arranged in a single plane to contact one side of the object. In other embodiments, the engagement devices can be arranged in multiple planes to contact multiple sides of the object. In some embodiments, the engagement devices can be in fluid communication with a vacuum source where the vacuum source can selectively draw a vacuum in each of the engagement devices. Examples of these various embodiments are shown in Figs. 10 to 12.

[0058] Fig. 10 depicts an embodiment of a system 350 that includes multiple engagement devices. In particular, the system 350 includes engagement devices 300i, 3002, 300s, 3004, and 300s (collectively, engagement devices 300). In some embodiments, each of the engagement devices 300 is same or similar to the engagement device 200. The system 350 also includes a vacuum source 352 that is in fluid communication with the engagement devices 300. In particular, the vacuum source 352 is in fluid communication independently with each of the engagement devices 300. In the depicted embodiment, the system 350 includes fluid lines 354 (represented with long-dash lines) that provide independent (e.g., parallel) fluid communication between the vacuum source 352 and the engagement devices 300.

[0059] The system 350 further includes valves 356i, 3562, 356s, 3564, and 356s (collectively, valves 356). Each of the valves 356 is on a parallel portion of the fluid lines 354 associated with one of the engagement devices 300. The valves 356 can be controlled so that the vacuum source 352 selectively draws a vacuum in each of the engagement devices 300. For example, when the vacuum source 352 is operating to draw a vacuum in the fluid lines 354, opening one of the valves 356 (e.g., the valve 356i) will cause the vacuum source 352 to selectively draw the vacuum in the one of the engagement devices 300 (e.g., the engagement device 3001) associated with the one of the valves 356. In another example, regardless of whether the vacuum source 352 is operating, a vacuum will not be drawn in one of the engagement devices 300 (e.g., the engagement device 300i) when the associated one of the valves 356 (e.g., the valve 356i) is closed.

[0060] The system 350 further includes a computing device 360. The computing device 360 is communicatively coupled to the valves 356. In the depicted embodiment, the computing device 360 is shown in communication with the valves 356 via communication channels 362 (represented with short-dash lines). The computing device 360 is configured to control the valves 356 individually so that the valves 356 open and close, thereby causing the vacuum source 352 to selectively draw a vacuum in each of the engagement devices 300. In the depicted embodiment, the computing device 360 is also communicatively coupled to the vacuum source 352 via one of the communication channels 362. The computing device 360 can optionally be configured to control operation of the vacuum source 352, such as by controlling whether the vacuum source 352 is operating, a level of a vacuum drawn by the vacuum source 352, and the like. Any of the communication channels 362 between the computing device 360 and the other components in the system 350 can be a wired communication channel (e.g., a serial communication, a local area network connection, etc.), a wireless communication channel (e.g., a Bluetooth connection, a WiFi connection, etc.), or some combination thereof.

[0061] In the instance shown in Fig. 10, all of the valves 356 are closed such that the vacuum source 352 is not drawing a vacuum in any of the engagement devices 300. Because a vacuum is not being drawn in any of the engagement devices 300, the pistons of the engagement devices 300 are in their retracted positions. At the depicted instance, an object 340 is located in front of the suction devices of the engagement devices 300. In the depicted embodiment, the object 340 is a shipping container (e.g., a cardboard box). In other embodiments, the object 340 can be any other type of object. With pistons of the engagement devices 300 in the retracted position, the suction devices of the engagement devices 300 are not engaged with the object 340. It will also be noted that the object 340 is positioned to be in front of the engagement devices 300i, 3002, 300s, and 3004, while the object 340 does not extend to be in front of and 300s. In some embodiments, the system 350 can have sensors (e.g., proximity sensors) to that determine whether the object 340 is located in range of the pistons of each of the engagement devices 300. In some embodiments, the system 350 includes a sensor configured to determine a length of the object 340 such that the computing device 360 can determine whether the object 340 is located in range of the pistons of each of the engagement devices 300.

[0062] In the instance shown in Fig. 11, the computing device 360 has opened some of the valves 356 and the pistons of the corresponding engagement devices 300 have moved to the extended position so that their suction devices have engaged the object 340. In particular, the computing device 360 has opened the valves 356i, 3562, 356s, and 3564 so that the pistons of the engagement devices 300i, 3002, 300s, and 3004 have moved to the extended position and the suction devices of the engagement devices 300i, 3002, 300s, and 3004 have engaged the object 340. In particular, the suction devices of the engagement devices 300i, 3002, 300s, and 3004 have engaged the same side of the object 340. With suction devices of the engagement devices 300i, 3002, 300s, and 3004 engaging the object 340, the engagement devices 300i, 3002, 300s, and 3004 deter movement of the object 340. While the engagement devices 300i, 3002, 300s, and 3004 engage the object 340, any number of operations can be carried out on the object 340. For example, in the case of the depicted embodiment of the object 340 being a shipping container, the shipping container can be folded, closed, adhered in a closed position, labelled, or a have any other operation performed while the engagement devices 300i, 3002, 300s, and 3004 engage the object 340. The computing device 360 has left the valve 356s closed so that a vacuum is not drawn in the engagement device 300s and the piston of the engagement device 300s remains in the retracted position. In some embodiments, the computing device 360 may determine to keep the valve 356s closed in response to determining that the object 340 does not extend in front of the engagement device 300₅.

[0063] When the object 340 is to be disengaged from the engagement devices 300i, 3002,

3001. and 3004, the computing device 360 can close all of the open valves 356. If, from the instance shown in Fig. 11, the computing device 360 closes the valves 356i, 3562, 356s, and 3564, the vacuum source 352 will cease drawing a vacuum in the engagement devices 300i,

3002, 300s, and 3004. This will cause the suction devices of the engagement devices 300i, 3002, 300s, and 3004 to cease engaging the side of the object 340 and the pistons of the engagement devices 300i, 3002, 300s, and 3004 to retract from the extended position to the retracted position. After that, the object 340 can be free to move to other locations. In some embodiments, the computing device 360 causes some or all of the engagement devices 300 to engage the object 340 when some action (e.g., folding, closing, adhering, labeling, etc.) is performed on the object 340 and then the computing device 360 causes the engagement devices 300 to disengage from the object 340 when the action is complete.

[0064] In the embodiment of the system 350, the engagement devices 3001, 3002, 300s, 3004, and 300s are arranged linearly and are configured to engage objects in one dimension. For example, as shown in Fig. 11, the engagement devices 300i, 3002, 300s, and 3004 engage one side of the object 340. In other embodiments, it may be advantageous to engage objects in more than one dimension. Fig. 12 depicts an embodiment of a system 350’ that is capable of engaging objects in multiple dimensions.

[0065] The system 350’ includes the engagement devices 300i, 3002, 300s, 3004, and 300s, the vacuum source 352, the valves 356i, 3562, 356s, 3564, and 356s, and the computing device 360 from the system 350. The system 350’ further includes engagement devices 300e, 300?, and 300s (collectively with the engagement devices 3001, 3002, 300s, 3004, and 300s, the engagement devices 300’). In the system 350’, the fluid lines 354 provide independent (e.g., parallel) fluid communication between the vacuum source 352 and the engagement devices 300’. The system 350’ further includes valves 356e, 356?, and 356s (collectively with the valves 356i, 3562, 356s, 3564, and 356s, the valves 356’). The valves 356’ can be controlled so that the vacuum source 352 selectively draws a vacuum in each of the engagement devices 300’. The computing device 360 in the system 350’ is communicatively coupled to the valves 356’ via the communication channels 362.

[0066] In the depicted embodiment, the engagement devices 300i, 3002, 300s, 3004, and 300s are a first set of the engagement devices 300’ and they are arranged in one direction. When viewing Fig. 12, the first set of the engagement devices 300’ are arranged in the direction between the left and right of the figure. In the depicted embodiment, the engagement devices 300e, 300?, and 300s are a second set of the engagement devices 300’ and they are arranged in another direction. When viewing Fig. 12, the second set of the engagement devices 300’ are arranged in the direction between the top and bottom of the figure. In the depicted example, the direction of the first set of the engagement devices 300’ is substantially perpendicular to the direction of the second set of the engagement devices 300’. In this arrangement, the first and second sets of the engagement devices 300’ are capable of engaging planar surfaces of the object 340 that are substantially perpendicular to each other. It will be apparent that any number of sets of engagement devices can be used to engage any number of sides of an object. For example, in Fig. 12, the engagement devices 300 can include two additional sets of engagement devices (not shown) that can be employed to hold the other two sides of the object 340.

[0067] In the instance shown in Fig. 12, the computing device 360 has opened some of the valves 356 and the pistons of the corresponding engagement devices 300 have moved to the extended position so that their suction devices have engaged the object 340. In particular, the computing device 360 has opened the valves 356i, 3562, 356s, 3564, 356e, and 356? so that the pistons of the engagement devices 300i, 3002, 300s, 3004, 300e, and 300? have moved to the extended position and the suction devices of the engagement devices 300i, 3002, 300s, 3004, 300e, and 300? have engaged the object 340. In particular, the suction devices of the engagement devices 300i, 3002, 300s, and 3004 have engaged one side of the object 340 and the suction devices of the engagement devices 3006 and 300? have engaged another side of the object 340. With suction devices of the engagement devices 300i, 3002, 300s, 3004, 300e, and 300? engaging the object 340, the engagement devices 300i, 3002, 300s, and 3004 deter movement of the object 340 in one direction and the engagement devices 300e and 300? deter movement of the object 340 in another direction. While the engagement devices 300i, 3002, 300s, 3004, 300e, and 300? engage the object 340, any number of operations (e.g., folding, closing, adhering, labeling, etc.) can be carried out on the object 340. The computing device 360 has left the valves 356s and 356s closed so that a vacuum is not drawn in the engagement devices 300s and 300s, and the pistons of the engagement devices 300s and 300s remains in the retracted position. In some embodiments, the computing device 360 may determine to keep the valves 356s and 356s closed in response to determining that the object 340 does not extend in front of either the engagement device 300s or the engagement device 300s.

[0068] When the object 340 is to be disengaged from the engagement devices 300’, the computing device 360 can close all of the valves 356’ that remain open. If, from the instance shown in Fig. 12, the computing device 360 closes the valves 3561, 3562, 356s, 3564, 356e, and 356?, the vacuum source 352 will cease drawing a vacuum in the engagement devices 300i, 3002, 300s, 3004, 3006, and 3007. This will cause the suction devices of the engagement devices 300i, 3002, 300s, 3004, 3006, and 300? to cease engaging the side of the object 340 and the pistons of the engagement devices 300i, 3002, 300s, 3004, 300e, and 300? to retract from the extended position to the retracted position. After that, the object 340 can be free to move to other locations. In some embodiments, the computing device 360 causes some or all of the engagement devices 300’ to engage the object 340 when some action (e.g., folding, closing, adhering, labeling, etc.) is performed on the object 340 and then the computing device 360 causes the engagement devices 300’ to disengage from the object 340 when the action is complete.

[0069] In the embodiments shown in Figs. 10 to 12, the systems 350 and 350’ appear to include one vacuum source 352 and one computing device 360. It will be apparent that the vacuum source 352 and the computing device 360 can include any number of vacuum sources and computing devices, respectively, either of the systems 350 and 350’. For example, in the system 350, the vacuum source 352 may include a single vacuum source and the computing device 360 may include a separate computing device associated with each of the valves 356. In another example, the vacuum source 352 in the system 350’ could include a first vacuum source independently coupled to each of the engagement devices 300’ in the first set and a second vacuum source independently coupled to each of the engagement devices 300’ in the second set. Many other variations and/or combinations of numbers of vacuum sources of the vacuum source 352 and/or computing devices of the computing device 360 are possible. Similarly, the numbers, arrangements, and orientations of the engagement devices in a system can vary from the examples of the systems 350 and 350’ shown in Figs. 10 to 12.

[0070] In other embodiments, the embodiment of engagement devices described herein can allow a system to have one valve for multiple engagement devices. Fig. 13 depicts an embodiment of a system 450 that is similar to the system 350 except that the system 450 includes one valve 456 located between the vacuum source 352 and all of the engagement devices 300. The computing device 360 is communicatively coupled to the valve 456 to control the valve 456. In the arrangement shown, the vacuum source 352 is capable of selectively drawing a vacuum in the engagement devices 300 based on whether the valve 456 is open or closed. When the valve 456 is open, the vacuum source 352 selectively draws a vacuum in each of the engagement devices 300. In the depicted embodiment, the valve 456 is open so that the vacuum source 352 is drawing a vacuum in each of the engagement devices 300. The piston in each of the engagement devices 300 has extended out to the extended position and the suction devices of the engagement devices 300i, 3002, 300s, and 3004 have engaged the object 340. The suction devices of the engagement device 300s has not engaged the object, though the piston of the engagement device 300s remains in the extended position.

[0071] At the instant shown in Fig. 13, the non-engaged suction device of the engagement device 300s provides fluid communication between the piston of the engagement device 300s and the ambient environment. With only the one valve 456 in the system 450, the nonengaged suction device of the engagement device 300s would appear to act as a “leak” in the fluid system between the vacuum source 352 and the engagement devices 300. Such an arrangement may appear to be disadvantageous because the leak in the fluid system caused by the engagement device 300s would lower the pressure of the vacuum in all of the engagement devices 300. However, the reduced diameter of the bore at the proximal end of the piston serves to function as a limit on how much fluid passes, and therefore limits the pressure drop when one or more of the engagement devices 300 is not engaged with the object 340. In some embodiments, the diameter of the reduced diameter at the proximal end of the bore of each of the engagement devices 300 is selected to minimize vacuum drop when one or more of the engagement devices 300 is not engaged with the object. In some examples, the diameter of the reduced diameter at the proximal end of the bore of each of the engagement devices 300 can be less than or equal to one or more of 2 mm (79 mils), 1.5 mm (59 mils), 1.0 mm (39 mils), or 0.5 mm (20 mils). Fig. 14 depicts an embodiment of a system 450’ that is similar to the system 350’ except that the system 450’ includes one valve 456 located between the vacuum source 352 and all of the engagement devices 300. The computing device 360 is communicatively coupled to the valve 456 to control the valve 456. In the arrangement shown, the vacuum source 352 is capable of selectively drawing a vacuum in the engagement devices 300 based on whether the valve 456 is open or closed. When the valve 456 is open, the vacuum source 352 selectively draws a vacuum in each of the engagement devices 300. In the depicted embodiment, the valve 456 is open so that the vacuum source 352 is drawing a vacuum in each of the engagement devices 300. The piston in each of the engagement devices 300 has extended out to the extended position and the suction devices of the engagement devices 300i, 3002, 300s, 3004, 3006, and 300? have engaged the object 340. The suction devices of the engagement devices 300s and 300? have not engaged the object, though the pistons of the engagement devices 300s and 300? remain in the extended position.

[0072] At the instant shown in Fig. 14, the non-engaged suction devices of the engagement devices 300s and 300? provide fluid communication between the pistons of the engagement devices 300s and 300? and the ambient environment. With only the one valve 456 in the system 450, the non-engaged suction devices of the engagement devices 300s and 300? would also appear to act “leaks” in the fluid system between the vacuum source 352 and the engagement devices 300. However, similar to the situation with the system 450 described above, the reduced diameter of the bore at the proximal end of the pistons serves to function as a limit on how much fluid passes, and therefore limits the pressure drop when one or more of the engagement devices 300 is not engaged with the object 340. In some embodiments, the diameter of the reduced diameter at the proximal end of the bore of each of the engagement devices 300 can be similar to those of the engagement devices 300 discussed with respect to the system 450. Additionally, the reduced diameter of the bores of the pistons may also be selected such that more than one of the engagement devices 300 can remain unengaged with the object 340 while still retaining a sufficient vacuum in the fluid system to permit operation of the engaged ones o the engagement devices 300 to operate properly.

[0073] The single-valve systems depicted in Figs. 13 and 14 can present a significant cost savings over the multi-valve systems depicted in Figs. 11 and 12. In one example, the number of valves in the single-valve system is reduced significantly so that costs associated with more than one valve — including the initial cost of the valves, communicatively coupling multiple valves to a computing device, maintaining multiple valves over the course of the use of the valves, etc. — are reduced or eliminated. In addition, there is no need for any sensors to determine the size of objects to be engaged because the computing device 352 does not need to determine which of the engagement devices 300 need to be extended. Thus, the costs associated with providing and maintaining additional sensors can be reduced or eliminated. Many other advantages of a simplified, one-valve system will be apparent to those skilled in the art.

[0074] Fig. 15 depicts an example embodiment of a system 410 that may be used to implement some or all of the embodiments described herein. In the depicted embodiment, the system 410 includes computing devices 420i, 4202, 420s, and 4204 (collectively computing devices 420). In the depicted embodiment, the computing device 420i is a tablet, the computing device 4202 is a mobile phone, the computing device 420s is a desktop computer, and the computing device 4204 is a laptop computer. In other embodiments, the computing devices 420 include one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., Xbox, Play Station, Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and/or processes described herein, or any combination thereof.

[0075] The computing devices 420 are communicatively coupled to each other via one or more networks 430 and 432. Each of the networks 430 and 432 may include one or more wired or wireless networks (e.g., a 3G network, the Internet, an internal network, a proprietary network, a secured network). The computing devices 420 are capable of communicating with each other and/or any other computing devices via one or more wired or wireless networks. While the particular system 410 in Fig. 15 depicts that the computing devices 420 communicatively coupled via the network 430 include four computing devices, any number of computing devices may be communicatively coupled via the network 430.

[0076] In the depicted embodiment, the computing device 420s is communicatively coupled with a peripheral device 440 via the network 432. In the depicted embodiment, the peripheral device 440 is a scanner, such as a barcode scanner, an optical scanner, a computer vision device, and the like. In some embodiments, the network 432 is a wired network (e.g., a direct wired connection between the peripheral device 440 and the computing device 420s), a wireless network (e.g., a Bluetooth connection or a WiFi connection), or a combination of wired and wireless networks (e.g., a Bluetooth connection between the peripheral device 440 and a cradle of the peripheral device 440 and a wired connection between the peripheral device 440 and the computing device 420s). In some embodiments, the peripheral device 440 is itself a computing device (sometimes called a “smart” device). In other embodiments, the peripheral device 440 is not a computing device (sometimes called a “dumb” device). [0077] Depicted in Fig. 16 is a block diagram of an embodiment of a computing device 500. Any of the computing devices 420 and/or any other computing device described herein may include some or all of the components and features of the computing device 500. In some embodiments, the computing device 500 is one or more of a desktop computer, a mobile phone, a tablet, a phablet, a notebook computer, a laptop computer, a distributed system, a gaming console (e.g., an Xbox, a Play Station, a Wii), a watch, a pair of glasses, a key fob, a radio frequency identification (RFID) tag, an ear piece, a scanner, a television, a dongle, a camera, a wristband, a wearable item, a kiosk, an input terminal, a server, a server network, a blade, a gateway, a switch, a processing device, a processing entity, a set-top box, a relay, a router, a network access point, a base station, any other device configured to perform the functions, operations, and/or processes described herein, or any combination thereof. Such functions, operations, and/or processes may include, for example, transmitting, receiving, operating on, processing, displaying, storing, determining, creating/generating, monitoring, evaluating, comparing, and/or similar terms used herein. In one embodiment, these functions, operations, and/or processes can be performed on data, content, information, and/or similar terms used herein.

[0078] In the depicted embodiment, the computing device 500 includes a processing element 505, memory 510, a user interface 515, and a communications interface 520. The processing element 505, memory 510, a user interface 515, and a communications interface 520 are capable of communicating via a communication bus 525 by reading data from and/or writing data to the communication bus 525. The computing device 500 may include other components that are capable of communicating via the communication bus 525. In other embodiments, the computing device does not include the communication bus 525 and the components of the computing device 500 are capable of communicating with each other in some other way.

[0079] The processing element 505 (also referred to as one or more processors, processing circuitry, and/or similar terms used herein) is capable of performing operations on some external data source. For example, the processing element may perform operations on data in the memory 510, data receives via the user interface 515, and/or data received via the communications interface 520. As will be understood, the processing element 505 may be embodied in a number of different ways. In some embodiments, the processing element 505 includes one or more complex programmable logic devices (CPLDs), microprocessors, multicore processors, co processing entities, application-specific instruction-set processors (ASIPs), microcontrollers, controllers, integrated circuits, application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), hardware accelerators, any other circuitry, or any combination thereof. The term circuitry may refer to an entirely hardware embodiment or a combination of hardware and computer program products. In some embodiments, the processing element 505 is configured for a particular use or configured to execute instructions stored in volatile or nonvolatile media or otherwise accessible to the processing element 505. As such, whether configured by hardware or computer program products, or by a combination thereof, the processing element 505 may be capable of performing steps or operations when configured accordingly.

[0080] The memory 510 in the computing device 500 is configured to store data, computerexecutable instructions, and/or any other information. In some embodiments, the memory 510 includes volatile memory (also referred to as volatile storage, volatile media, volatile memory circuitry, and the like), non-volatile memory (also referred to as non-volatile storage, non-volatile media, non-volatile memory circuitry, and the like), or some combination thereof.

[0081] In some embodiments, volatile memory includes one or more of random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), fast page mode dynamic random access memory (FPM DRAM), extended data-out dynamic random access memory (EDO DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), double data rate type two synchronous dynamic random access memory (DDR2 SDRAM), double data rate type three synchronous dynamic random access memory (DDR3 SDRAM), Rambus dynamic random access memory (RDRAM), Twin Transistor RAM (TTRAM), Thyristor RAM (T-RAM), Zero-capacitor (Z-RAM), Rambus in-line memory module (RIMM), dual in-line memory module (DIMM), single in-line memory module (SIMM), video random access memory (VRAM), cache memory (including various levels), flash memory, any other memory that requires power to store information, or any combination thereof. [0082] In some embodiments, non-volatile memory includes one or more of hard disks, floppy disks, flexible disks, solid-state storage (SSS) (e.g., a solid state drive (SSD)), solid state cards (SSC), solid state modules (SSM), enterprise flash drives, magnetic tapes, any other non-transitory magnetic media, compact disc read only memory (CD ROM), compact disc-rewritable (CD-RW), digital versatile disc (DVD), Blu-ray disc (BD), any other non- transitory optical media, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory (e.g., Serial, NAND, NOR, and/or the like), multimedia memory cards (MMC), secure digital (SD) memory cards, Memory Sticks, conductive-bridging random access memory (CBRAM), phase-change random access memory (PRAM), ferroelectric random-access memory (FeRAM), nonvolatile random access memory (NVRAM), magneto-resistive random access memory (MRAM), resistive random-access memory (RRAM), Silicon Oxide-Nitride-Oxide-Silicon memory (SONOS), floating junction gate random access memory (FJG RAM), Millipede memory, racetrack memory, any other memory that does not require power to store information, or any combination thereof.

[0083] In some embodiments, memory 510 is capable of storing one or more of databases, database instances, database management systems, data, applications, programs, program modules, scripts, source code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, or any other information. The term database, database instance, database management system, and/or similar terms used herein may refer to a collection of records or data that is stored in a computer-readable storage medium using one or more database models, such as a hierarchical database model, network model, relational model, entity relationship model, object model, document model, semantic model, graph model, or any other model.

[0084] The user interface 515 of the computing device 500 is in communication with one or more input or output devices that are capable of receiving inputs into and/or outputting any outputs from the computing device 500. Embodiments of input devices include a keyboard, a mouse, a touchscreen display, a touch sensitive pad, a motion input device, movement input device, an audio input, a pointing device input, a joystick input, a keypad input, peripheral device 440, foot switch, and the like. Embodiments of output devices include an audio output device, a video output, a display device, a motion output device, a movement output device, a printing device, and the like. In some embodiments, the user interface 515 includes hardware that is configured to communicate with one or more input devices and/or output devices via wired and/or wireless connections.

[0085] The communications interface 520 is capable of communicating with various computing devices and/or networks. In some embodiments, the communications interface 520 is capable of communicating data, content, and/or any other information, that can be transmitted, received, operated on, processed, displayed, stored, and the like. Communication via the communications interface 520 may be executed using a wired data transmission protocol, such as fiber distributed data interface (FDDI), digital subscriber line (DSL), Ethernet, asynchronous transfer mode (ATM), frame relay, data over cable service interface specification (DOCSIS), or any other wired transmission protocol. Similarly, communication via the communications interface 520 may be executed using a wireless data transmission protocol, such as general packet radio service (GPRS), Universal Mobile Telecommunications System (UMTS), Code Division Multiple Access 2000 (CDMA2000), CDMA2000 IX (IxRTT), Wideband Code Division Multiple Access (WCDMA), Global System for Mobile Communications (GSM), Enhanced Data rates for GSM Evolution (EDGE), Time Division-Synchronous Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), Evolved Universal Terrestrial Radio Access Network (E-UTRAN), Evolution-Data Optimized (EVDO), High Speed Packet Access (HSPA), High-Speed Downlink Packet Access (HSDPA), IEEE 802. 11 (WiFi), WiFi Direct, 802.16 (WiMAX), ultra wideband (UWB), infrared (IR) protocols, near field communication (NFC) protocols, Wibree, Bluetooth protocols, wireless universal serial bus (USB) protocols, or any other wireless protocol.

[0086] As will be appreciated by those skilled in the art, one or more components of the computing device 500 may be located remotely from other components of the computing device 500 components, such as in a distributed system. Furthermore, one or more of the components may be combined and additional components performing functions described herein may be included in the computing device 500. Thus, the computing device 500 can be adapted to accommodate a variety of needs and circumstances. The depicted and described architectures and descriptions are provided for exemplary purposes only and are not limiting to the various embodiments described herein.

[0087] Embodiments described herein may be implemented in various ways, including as computer program products that comprise articles of manufacture. A computer program product may include a non-transitory computer-readable storage medium storing applications, programs, program modules, scripts, source code, program code, object code, byte code, compiled code, interpreted code, machine code, executable instructions, and/or the like (also referred to herein as executable instructions, instructions for execution, computer program products, program code, and/or similar terms used herein interchangeably). Such non- transitory computer-readable storage media include all computer-readable media (including volatile and non-volatile media).

[0088] As should be appreciated, various embodiments of the embodiments described herein may also be implemented as methods, apparatus, systems, computing devices, and the like. As such, embodiments described herein may take the form of an apparatus, system, computing device, and the like executing instructions stored on a computer readable storage medium to perform certain steps or operations. Thus, embodiments described herein may be implemented entirely in hardware, entirely in a computer program product, or in an embodiment that comprises combination of computer program products and hardware performing certain steps or operations.

[0089] Embodiments described herein may be made with reference to block diagrams and flowchart illustrations. Thus, it should be understood that blocks of a block diagram and flowchart illustrations may be implemented in the form of a computer program product, in an entirely hardware embodiment, in a combination of hardware and computer program products, or in apparatus, systems, computing devices, and the like carrying out instructions, operations, or steps. Such instructions, operations, or steps may be stored on a computer readable storage medium for execution buy a processing element in a computing device. For example, retrieval, loading, and execution of code may be performed sequentially such that one instruction is retrieved, loaded, and executed at a time. In some exemplary embodiments, retrieval, loading, and/or execution may be performed in parallel such that multiple instructions are retrieved, loaded, and/or executed together. Thus, such embodiments can produce specifically configured machines performing the steps or operations specified in the block diagrams and flowchart illustrations. Accordingly, the block diagrams and flowchart illustrations support various combinations of embodiments for performing the specified instructions, operations, or steps.

[0090] For purposes of this disclosure, terminology such as “upper,” “lower,” “vertical,” “horizontal,” “inwardly,” “outwardly,” “inner,” “outer,” “front,” “rear,” and the like, should be construed as descriptive and not limiting the scope of the claimed subject matter. Further, the use of “including,” “comprising,” or “having” and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms “connected,” “coupled,” and “mounted” and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. Unless stated otherwise, the terms “substantially,” “approximately,” and the like are used to mean within 5% of a target value.

[0091] The principles, representative embodiments, and modes of operation of the present disclosure have been described in the foregoing description. However, aspects of the present disclosure which are intended to be protected are not to be construed as limited to the particular embodiments disclosed. Further, the embodiments described herein are to be regarded as illustrative rather than restrictive. It will be appreciated that variations and changes may be made by others, and equivalents employed, without departing from the spirit of the present disclosure. Accordingly, it is expressly intended that all such variations, changes, and equivalents fall within the spirit and scope of the present disclosure, as claimed.

Claims

CLAIMS What is claimed is:

1. An engagement device comprising: a cylinder having an interior and a port, wherein the port is couplable to a vacuum source and the port is in fluid communication with the interior of the cylinder; a piston located in the interior of the cylinder, wherein the piston is capable of sliding within the interior of the cylinder between a retracted position and an extended position, wherein the piston includes a proximal end, a distal end, and a bore, wherein the bore is in fluid communication with the interior of the cylinder; a suction device coupled to the proximal end of the piston and in fluid communication with the bore of the piston; and a biasing mechanism configured to bias the piston to the retracted position; wherein the piston has a reduced diameter compared to a diameter between the proximal and distal ends such that, when the port of the cylinder is coupled to the vacuum source and the vacuum source draws a vacuum through the interior of the cylinder and the bore of the piston, the reduced diameter of the piston causes the pressure in the interior of the cylinder to be reduced to exert a force on the piston that is greater than a force of the biasing mechanism so that the piston extends from the retracted position to the extended position.

2. The engagement device of claim 1, wherein the biasing mechanism is a compression spring located in the interior of the cylinder.

3. The engagement device of claim 2, wherein the compression spring is wound around the piston.

4. The engagement device of claim 1, further comprising: an O-ring located in the interior of the cylinder, wherein the O-ring is positioned in the interior of the cylinder so that the piston is in contact with the O-ring when the piston is in the extended position.

5. The engagement device of claim 1, wherein the reduced diameter of the bore at the proximal end is at least 0.04 inches (1 mm) smaller than the diameter between the proximal and distal ends.

6. The engagement device of claim 1, wherein the piston comprises a first piece and a second piece that are coupled together, wherein the reduced diameter of the bore is located in the first piece, and wherein the diameter between the proximal and distal ends is in the second piece.

7. The engagement device of claim 1, further comprising: a bearing located between the cylinder and the piston, wherein the piston is configured to slide through the bearing while sliding between the retracted position and the extended position.

8. The engagement device of claim 1, wherein the bore of the piston is in fluid communication with the interior of the cylinder via a through hole in the piston.

9. The engagement device of claim 8, wherein the reduced diameter of the piston is the through hole in the piston.

10 The engagement device of claim 1, wherein the reduced diameter is located at the proximal end of the piston.

11. A system, comprising: a plurality of engagement devices, wherein each of the plurality devices is the engagement device of claim 1 ; a vacuum source in fluid communication independently with each of the engagement devices, wherein the vacuum source is configured to selectively draw a vacuum in each of the plurality of engagement devices such that piston of each of one or more of the engagement devices slides from the retracted position to the extended position to engage an object.

12. The system of claim 11, wherein the engagement devices in the plurality of engagement devices are arranged in a single direction such that the suction devices of the plurality of engagement devices are arranged to contact a planar surface of the object.

13. The system of claim 11, wherein the plurality of engagement devices includes a first set of engagement devices and a second set of engagement devices, wherein the engagement devices in the first set of engagement devices are arranged in a first direction such that the suction devices of the plurality of engagement devices are arranged to contact a first planar surface of the object, and wherein the engagement devices in the second set of engagement devices are arranged in a second direction such that the suction devices of the plurality of engagement devices are arranged to contact a second planar surface of the object.

14. The system of claim 13, wherein the first direction is substantially perpendicular to the second direction.

15. The system of claim 14, wherein the first planar surface of the object is substantially perpendicular to the second planar surface of the object.

16. The system of claim 11, further comprising: a plurality of valves, wherein the independent fluid communication between the vacuum source and each of the plurality of engagement devices includes one of the plurality of valves.

17. The system of claim 16, further comprising: a computing device in communication with the plurality of valves, wherein the computing device is configured to control the plurality of valves to control the selective drawing of the vacuum by the vacuum source in each of the plurality of engagement devices.

18. The system of claim 11, further comprising: a single valve located between the vacuum source and the plurality of engagement devices.

19. The system of claim 18, further comprising: a computing device in communication with the single valve, wherein the computing device is configured to control the single valve to control the selective drawing of the vacuum by the vacuum source in the plurality of engagement devices.

20. The system of claim 11, wherein the one or more of the engagement devices are arranged to hold the object at the location of the suction devices when the pistons of the one or more of the engagement devices are at the extended position.

21. The system of claim 11, wherein the vacuum source is further configured to stop drawing the vacuum in the one or more of the engagement devices such that the one or more of the engagement devices disengages from the object and the piston of each of the one or more of the engagement devices retracts from the extended position to the retracted position.