US 11,865,699 B2
Systems and methods for acquiring and moving objects
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, MA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (US); Prasanna Velagapudi, Pittsburgh, PA (US); and Thomas Allen, Reading, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on May 13, 2022, as Appl. No. 17/744,068.
Application 17/744,068 is a continuation of application No. 17/073,693, filed on Oct. 19, 2020, granted, now 11,370,127.
Application 17/073,693 is a continuation of application No. 16/814,658, filed on Mar. 10, 2020, granted, now 11,318,623, issued on May 3, 2022.
Application 16/814,658 is a continuation of application No. 16/390,634, filed on Apr. 22, 2019, granted, now 10,850,402, issued on Dec. 1, 2020.
Application 16/390,634 is a continuation of application No. 15/992,841, filed on May 30, 2018, granted, now 10,335,956, issued on Jul. 2, 2019.
Application 15/992,841 is a continuation of application No. 15/371,921, filed on Dec. 7, 2016, granted, now 10,011,020, issued on Jul. 3, 2018.
Claims priority of provisional application 62/276,653, filed on Jan. 8, 2016.
Prior Publication US 2022/0274267 A1, Sep. 1, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/00 (2006.01); B25J 5/06 (2006.01); B25J 15/10 (2006.01); B25J 15/06 (2006.01)
CPC B25J 15/0033 (2013.01) [B25J 15/0004 (2013.01); B25J 15/0023 (2013.01); B25J 15/0052 (2013.01); B25J 15/0095 (2013.01); B25J 15/0616 (2013.01); B25J 15/10 (2013.01); Y10S 901/40 (2013.01)] 76 Claims
OG exemplary drawing
 
1. An end effector system for a robotic system, said end effector system comprising:
a primary acquisition system that includes a primary vacuum end effector; and
a secondary retention system that substantially surrounds at least a portion of the primary acquisition system and is mechanically independent of the primary acquisition system, wherein at least a portion of the primary acquisition system is drawn up within at least a portion of the secondary retention system such that said primary acquisition system is used to select an object from a plurality of objects, and the secondary retention system is used to secure the object for rapid transport to an output destination, wherein said secondary retention system includes a secondary vacuum end effector coupled to a secondary vacuum source.