US 11,724,389 B2
Systems and methods for acquiring and moving objects having complex outer surfaces
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); John Richard Amend, Jr., Belmont, MA (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); William Hartman Fort, Stratham, NH (US); Christopher Geyer, Arlington, MA (US); Jennifer Eileen King, Oakmont, PA (US); Thomas Koletschka, Cambridge, MA (US); Michael Cap Koval, Mountain View, CA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); William Chu-Hyon McMahan, Cambridge, 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 29, 2020, as Appl. No. 16/887,886.
Application 16/887,886 is a continuation of application No. 16/052,111, filed on Aug. 1, 2018, granted, now 10,723,019.
Claims priority of provisional application 62/540,355, filed on Aug. 2, 2017.
Prior Publication US 2020/0290200 A1, Sep. 17, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. B23Q 7/04 (2006.01); B25J 9/16 (2006.01); B25J 15/00 (2006.01); B25J 15/06 (2006.01); B25J 9/10 (2006.01); B25J 9/12 (2006.01)
CPC B25J 9/1612 (2013.01) [B25J 9/109 (2013.01); B25J 9/126 (2013.01); B25J 15/0028 (2013.01); B25J 15/0038 (2013.01); B25J 15/0616 (2013.01)] 57 Claims
OG exemplary drawing
 
1. A programmable motion device including an end effector, said programmable motion device including a plurality of articulated arm sections, and said end effector including a pair of rollers, at least one of said pair of rollers being actuable to rotate with respect to another of said pair of rollers to engage at least a portion of an object between mutually opposing surfaces of said pair of rollers, wherein each of the pair of rollers includes surface features for grasping the object, and wherein the surface features include a plurality of openings on an outer surface of each roller through which a vacuum is provided to grasp the object.