US 11,945,103 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.
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jul. 14, 2021, as Appl. No. 17/375,763.
Claims priority of provisional application 63/054,856, filed on Jul. 22, 2020.
Prior Publication US 2022/0024057 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)] 32 Claims
OG exemplary drawing
 
1. An end-effector for a programmable motion device, said 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 body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping,
the at least one feature including a shroud that surrounds at least a portion of the body, wherein an inner surface of the shroud contacts an object during grasping, and
the body further including a collapsible dome that is adapted to collapse into the open interior of the body and a stop member for limiting movement of the collapsible dome into the open interior of the body.