When designing a solution, it is important to research patents that relate to the solution to avoid lawsuits. Additionally, the kwadropus suction cup will include a variety of parts. Collecting knowledge and insight from several different types patents may provide ideas on how such a design could be made. Listed below are the related patents:

    The patent involves using a gripping system on a robot to pick up objects using a grid system of suction cups controlled by a pneumatic pump. Using a sensor to measure the pressure of the pump, the gripper can control the amount of pressure going into each suction cup, allowing it to grip and release.

The grid of suction cups allows the patent to have optimal grip on the object. However, the arm that holds the suction cups is very rigid, and our solution needs to involve soft robotics since the equipment on the ISS is delicate.

Zevenbergen, J. (2014). US9205558B1 - multiple Suction Cup control. Google Patents. https://patents.google.com/patent/US9205558B1/en?q=%28suction%2Bcups%29&oq=suction%2Bcups 

This patent describes and injected molded apparatus which allow quick attachment with multiple suction cups through its multiple openings. Alternative versions of the design include mechanisms for a kickstand, as well as straps. The design was originally developed for attachment to tablets and other vertical surfaces. 

Although this patent does not directly solve the problem of attachment to surfaces in space, it does show a viable option for attachment to vertical surfaces. This could be useful in developing a method to attach to the wall on the ISS.Unfortunately this design does not account for the terrain of the ISS. Additionally, our design will most likely include some sort of vacuum which would need to be considered when designing openings. 

Johnson, A. A. (2013, September 11). US9128668B2 - multiple suction cup attachment platform: Securing an electronic device on a vertical surface. Google Patents. https://patents.google.com/patent/US9128668B2/en?q=%28suction%2Bcup%29&oq=suction%2Bcup 

This patent involves using memory material to activate/deactivate the suction cup grip. Some examples of the memory materials include piezoelectric materials, electroactive polymers (EAP), magnetorheological polymers. These materials are activated by an electric or magnetic field.

Although the use of active material would help in the overall size and flexibility of our solution, using magnetic fields would not be the best option, considering there is much equipment on the ISS that could be affected by the field. 

Browne, A. (2006). US8096537B2 - active material based Suction Cups. Google Patents. https://patents.google.com/patent/US8096537B2/en?q=%28suction%2Bcups%29&oq=suction%2Bcups 

The suction cup mechanism uses an axial rotation device to release pressure from the surface. The center of the suction cup is pulled away from the surface by a crankshaft to increase the suction cup's ability to stick to the surface.

Although the design is compact, it is very rigid. However, it is a very simple design that would be easy to implement for multiple kwadropus arms. Using the crankshaft and the rotary device to deactivate the suction cup would be helpful in our design.

Carnevali, J. (2006). US7607622B2 - Suction Cup having compact axial installation and release mechanism. Google Patents. https://patents.google.com/patent/US7607622B2/en?q=%28suction%2Bcup%2Brounded%2Bsurface%29&oq=suction%2Bcup%2Brounded%2Bsurface&page=1 

The patent involves a suction mounting apparatus which include a concave drive base and a spherical drive pin. The release mechanism also functions as a 360 degree joint when attached. In this case the patent appears to be used for a phone holder for a car.

The use of a spherical pin allowing for both mobility and quick release may be useful to provide flexibility for the kwadropus robot when attaching to surfaces on the ISS. The ISS’ wall are often not completely vertical and have various objects and tools attached to them. The suction-cup’s ability to adapt to change in surface may be a vital component to it’s function. If this patent were to be used in the design of the kwadropus robot’s suction cups, it would need to be low in friction and allow space for the pneumatic tubing.

Carnevali, J. D. (2007, August 22). US7850133B2 - Suction Cup having compact axial installation and release mechanism. Google Patents. https://patents.google.com/patent/US7850133B2/en?q=%28suction%2Bcup%29&oq=suction%2Bcup 

The patent refers to a electronic suction design. This particular design uses servo motors connect to a solenoid which allows the flexible cup attached to the bottom to seal to a surface. The suction cup has two positions. The increased volume position seals the cup to the surface while the neutral volume position releases the cup from the surface.

How does the patented item solve or attempt to solve your problem or a similar one? What are some good and bad attributes of the item? What unique aspect does the patent add to your overall research?

This design could be useful to provide an option outside of pneumatics. An electronic suction would allow it’s sealing mechanism to be held in a single actuator. The issue with this design is that it’s actuator is larger and uses more rigid parts than pneumatics.

    Kniss, J. M., Perlman, M., Geary, J., Trujilo, O., Michels, G. R., & Mruzik, J. J. (2011, February 1). US9108319B2 - Electric Suction Cup. Google Patents. https://patents.google.com/patent/US9108319B2/en?oq=US9108319B2 

This patent involves a pillow that conforms to a smooth surface. a vacuum can then be used to apply suction through the cup. The model is non-rigid, but stiffness is increased when the pillow makes contact with a surface.

This object is non-rigid, which can be useful in our kwadropus which requires “soft-robotics”. vacuum suction is also useful as it can control whether the suction cups attach/dettach to surfaces.

Rublee, E. (2014). US9457477B1 - variable stiffness suction gripper. Google Patents. https://patents.google.com/patent/US9457477B1/en?q=%28suction%2Bcup%2Brounded%2Bsurface%29&oq=suction%2Bcup%2Brounded%2Bsurface 

The patent uses a guiding spindle to apply pressure to the suction cup. The amount of pressure is determined by the push button. It has a return spring to release pressure. It is a simple, rigid design that could be implemented in different sizes.

The design is basic and compact which is good, considering we need multiple suction cups on the quadropus. However, The design is very rigid, which would not be could for the quadropus as it would be dealing with many fragile parts.

Buryk, H. (2007). US7469868B2 - vacuum suction cup, especially for a windshield of a mechanical vehicle. Google Patents. https://patents.google.com/patent/US7469868B2/en?q=%28suction%2Bcup%29&oq=suction%2Bcup&page=1 

This patent in valves a vacuum suction apparatus. The end of the apparatus has a suction cup with a vent hole in the inner surface of the suction cup. The electronic apparatus connected to the suction cup vent hole creates a vacuum by closing the vent hole from the outer surface of the suction cup using a valve member. This then causes the space within the inner surface of the suction cup to decrease causing the suction cup to stick to flat surfaces. The electronic component of this design is heavy, therefore may struggle on walls or other vertical surfaces.

How does the patented item solve or attempt to solve your problem or a similar one? What are some good and bad attributes of the item? What unique aspect does the patent add to your overall research?

The patent displayed attempts to create a better way of creating the vacuum seal that suction cups already create. Additionally, the weight of the electronic apparatus shouldn’t be a problem with space’s lack of gravity. Unfortunately, the design is very rigid and may not work well around delicate components on the ISS. The suction used in this case is also much smaller meaning the device may not create as strong of a seal with a larger suction cup.

  Samsung Electronics Co Ltd., 姜润锡., 南敏赫. (2017, November 16). CN108071658B - vacuum suction apparatus and electronic apparatus including the same. Google Patents. https://patents.google.com/patent/CN108071658B/en?q=%28vacuum%2Bsuction%2Bcup%29&oq=vacuum%2Bsuction%2Bcup 

This vacuum suction apparatus is completely mechanical and includes an adjustment lever. The structure is made up of a suction cup and a wheel base which has and adjustment lever attached to the center point of the shaft through an opening. The lever includes pinion at it’s bottom end which is fit with gearing on a vertical rack in the center when the lever is locked in place. The lock can be release from the upper portion of the lever releasing the suction. The suction strength can be adjusted using the lever.

This device is small and slim allowing it to fit well of the kwadropus soft robotics arms. The device also has adjustable strength and is fully mechanical which could prove to be helpful. Because the device uses a lever, it would need to be adapted to be fully autonomous. Unfortunately this may mean motors and servos may have to be used, which may increase the bulk used in the design. On the other had options such as hydraulics or pneumatics could also be used to activate the suction cups locking mechanism. 

    Fan, E. (2004, October 26). US7021593B1 - vacuum suction apparatus. Google Patents. https://patents.google.com/patent/US7021593B1/en?q=%28vacuum%2Bsuction%2Bcup%29&oq=vacuum%2Bsuction%2Bcup 

The patent involves a universal gripping suction chuck capable of handling different types of object. The inside of the cuck houses a vacuum system  and a vortex system. The vacuum system is used to hold an object by vacuum suction while the cortex system is used for holding objects without contact. There is also an edge gripper. Each system can be activated by commands from a central processing system. The processing system uses sensors to determine what type of object it is grabbing using colors and outlines.

The use of sensors in this design could be a vital aspect. Although most of this patent includes things that would be useless and cause too much bulk, the sensors system may be applicable. Space’s microgravity means that a suction cup which is actuated either using mechanics or hydraulics would have to do so immediately after coming into contact with an object. Using a sensor to determine when the autonomous kwadropus duster is approaching a wall or object could prove useful.

 Kesil, B., & Gershenzon, E. (2015, SepteZmber 1). US9911640B2 - universal gripping and suction Chuck. Google Patents. https://patents.google.com/patent/US9911640B2/en?q=%28vacuum%2Bsuction%2Bcup%29&oq=vacuum%2Bsuction%2Bcup&page=5 

The patent is a blackhead remover that uses a vacuum pump to remove suck blackheads. IT includes a detachable tip which attaches to a funnel that attaches to the electronic apparatus containing the vacuum pump, CPU, PCB, and a lithium battery. The design also includes a status light LED on the outside of the apparatus.

How does the patented item solve or attempt to solve your problem or a similar one? What are some good and bad attributes of the item? What unique aspect does the patent add to your overall research?

Although the rigidity of the design may not be applicable on the ISS, it’s use of a vacuum pump and a separating components could be. On the suction design, splitting the suction cup and vacuum pump would allow for a less rigid design. Using tubing to connect the two components could allow for more mobility and adaptability. 

Raymond Hsu. (2019, March 7). US11344332B2 - portable multi-functional non-invasive blackhead remover apparatus. Google Patents. https://patents.google.com/patent/US11344332B2/en?q=%28blackhead%2Bremover%29&oq=blackhead%2Bremover 

This wall climbing toy has a frame body, spring loaded release valves, multiple suction cups, and multiple air tube units. When the release valves are displaced to an open position, the seal between the suction cup and surface is released. When it is in a closed position, the seal is formed. When the drive shaft is moving while the cam shaft is rotating, a pair of suction cups are released from the surface.

The spring mechanism for applying and releasing pressure for the suction cups is useful for the quadropus design because of its simplicity and efficiency. However, the design is to rigid for the fragile parts on the ISS. However, it does provide a good basis for how our design can attach to walls on the ISS.

Yang, Y. (2016). US9731209B1 - wall climbing toy. Google Patents. https://patents.google.com/patent/US9731209B1/en?q=%28suchion%2Bcups%29&oq=suchion%2Bcups&page=1 

The patent involves multiple soft arms that are able to work underwater and on slopes. It uses an elastic material along with actuators to achieve a full range of motion. These elastic materials, or hoses, are filled with solid particles to increase/decrease rigidity. Each arm has twelve suction cups to attach to surfaces. 

This patent is practically what we want our solution to be. It’s comprised of a soft, elastic material which is good for fragile materials on the ISS and it involves suction cups on its ends. However, the patent does not specify what type of material would work and how the actuators would allow for movement.

Ding, L. (2020). WO2020248557A1 - Soft Bionic Legged Robot. Google Patents. https://patents.google.com/patent/WO2020248557A1/en?q=%28suction%2Bcup%2Brobort%29&oq=suction%2Bcup%2Brobort&page=1 

This robot has a main body along with four legs extruding out from the body. Each leg has a suction cup on its end to attach to surfaces. The pressure applied to each suction cup is controlled by a reset spring. A vacuum device is connected to each suction cup to pump out gas and maintain the airtight seal. The sensor is used to detect the pressure of the vacuum device.

The spring mechanism and the vacuum device is a good basis for our design. However, making an air vacuum work in the ISS’ microgravity can serve to be difficult. Adding the suction cups to the end of each arm would have to be changed, considering we need two on each hand for the kwadropus.

Ezviz , H. (2019). CN210364126U - multi-foot Type Mobile Robot. Google Patents. https://patents.google.com/patent/CN210364126U/en?q=%28suction%2Bcup%2Brobot%29&oq=suction%2Bcup%2Brobot&page=1