US 12,296,463 B2
Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion
Christopher Geyer, Arlington, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Gabriel Nelson, Wilmington, MA (US); Aidan Rose, Waban, MA (US); and Jason Yap, Newton, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Mar. 11, 2024, as Appl. No. 18/601,171.
Application 18/601,171 is a continuation of application No. 17/377,004, filed on Jul. 15, 2021, granted, now 11,964,386.
Claims priority of provisional application 63/054,904, filed on Jul. 22, 2020.
Prior Publication US 2024/0278439 A1, Aug. 22, 2024
Int. Cl. B25J 15/06 (2006.01); B25J 15/00 (2006.01); B65G 47/91 (2006.01); B25J 9/00 (2006.01)
CPC B25J 15/0683 (2013.01) [B25J 15/0028 (2013.01); B65G 47/91 (2013.01); B25J 9/0093 (2013.01)] 53 Claims
OG exemplary drawing
 
1. An end-effector of a programmable motion device, said end- effector comprising:
a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;
a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and
a continuous shroud that is connected to the distal portion of the continuous body at a radially inward portion thereof, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object and a plurality of braces at a radially inward portion thereof.