US 12,257,696 B2
Systems and methods for object processing using a passively collapsing vacuum gripper
Jason Yap, Newton, MA (US); Aidan Rose, Waban, MA (US); Gabriel Nelson, Wilmington, MA (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 Feb. 9, 2024, as Appl. No. 18/437,756.
Application 18/437,756 is a continuation of application No. 17/375,763, filed on Jul. 14, 2021, granted, now 11,945,103.
Claims priority of provisional application 63/054,856, filed on Jul. 22, 2020.
Prior Publication US 2024/0238991 A1, Jul. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/00 (2006.01); B25J 15/00 (2006.01)
CPC B25J 15/0683 (2013.01) [B25J 15/0028 (2013.01); B25J 9/0093 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A programmable motion device including an 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, and said contact portion including at least one surface that is adapted to be drawn inward responsive to the vacuum such that the at least one surface that includes a collapsible dome is adapted to face at least partially inward toward the open interior under a force of the vacuum, the contact portion including a shroud that surrounds the collapsible dome, the collapsible dome having a plurality of apertures defined therein, wherein the collapsible dome includes an inner surface that extends below the shroud.