US 12,263,578 B2
End-effector with ridges for processing objects with low pose authority
Thomas Allen, Reading, MA (US); Jason Yap, Newton, MA (US); Ian Gerald Wilson, Malden, MA (US); Aidan Rose, Waban, MA (US); and Mark F. Budreski, Winchester, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Nov. 18, 2021, as Appl. No. 17/529,508.
Claims priority of provisional application 63/115,721, filed on Nov. 19, 2020.
Prior Publication US 2022/0152845 A1, May 19, 2022
Int. Cl. B25J 15/06 (2006.01); B25J 15/04 (2006.01)
CPC B25J 15/0683 (2013.01) [B25J 15/0408 (2013.01)] 21 Claims
OG exemplary drawing
 
1. An end-effector for a programmable motion device, said end effector comprising a body that includes a first portion that defines a vacuum opening through which a vacuum from a vacuum source is applied to an object, and a second portion that grips the object, said first portion being orthogonal to the second portion,
the first portion including a plurality of ridges configured on a surface of the first portion to distribute the vacuum over a contact surface of the object,
wherein at least one of the ridges is configured to define a closed area over a portion of the vacuum opening to provide a vacuum seal between the first portion and the object, and
wherein one or more other ridges are configured to define open areas that direct vacuum air flows to provide a high flow vacuum seal between the first portion and the object, wherein the one or more other ridges includes a ridge that extends across the vacuum opening to provide a vacuum flow in a linear direction along the ridge to an open end of the ridge.