US 11,938,618 B2
Systems and methods for object processing using a passively folding vacuum gripper
Jason Yap, Newton, MA (US); Aidan Rose, Waban, MA (US); Gabriel Nelson, Wilmington, DE (US); Matthew T. Mason, Pittsburgh, PA (US); and Christopher Geyer, Arlington, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jul. 14, 2021, as Appl. No. 17/375,758.
Claims priority of provisional application 63/054,856, filed on Jul. 22, 2020.
Prior Publication US 2022/0024056 A1, Jan. 27, 2022
Int. Cl. B25J 15/06 (2006.01); B25J 15/00 (2006.01); B25J 9/00 (2006.01)
CPC B25J 15/0683 (2013.01) [B25J 15/0028 (2013.01); B25J 9/0093 (2013.01)] 37 Claims
OG exemplary drawing
 
1. An end-effector for a programmable motion device, the end-effector comprising a body that includes a contact portion, said body providing an open interior through which a vacuum is provided to the contact portion, the contact portion having a plurality of apertures defined therein through which the vacuum is provided to engage an object, and including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping the object, wherein the at least one feature comprises one or more hinge portions, each hinge portion comprising a series of apertures provided in a line that defines a bend path in the contact portion.