US 12,304,061 B2
Systems and methods for providing high flow vacuum acquisition in automated systems
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, White Plains, NY (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Somerville, MA (US); Kyle Maroney, Saunderstown, RI (US); Matthew T. Mason, Atlanta, GA (US); Gene Temple Price, Somerville, MA (US); Joseph Romano, Arlington, MA (US); Daniel Carlton Smith, Wexford, PA (US); Siddhartha Srinivasa, Bedford, MA (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 Feb. 16, 2024, as Appl. No. 18/443,681.
Application 18/443,681 is a continuation of application No. 17/078,348, filed on Oct. 23, 2020, granted, now 11,945,100.
Application 17/078,348 is a continuation of application No. 16/704,463, filed on Dec. 5, 2019, granted, now 10,857,682, issued on Dec. 8, 2020.
Application 16/704,463 is a continuation of application No. 16/124,982, filed on Sep. 7, 2018, granted, now 10,576,641, issued on Mar. 3, 2020.
Application 16/124,982 is a continuation of application No. 15/260,014, filed on Sep. 8, 2016, granted, now 10,118,300, issued on Nov. 6, 2018.
Claims priority of provisional application 62/262,136, filed on Dec. 2, 2015.
Claims priority of provisional application 62/215,489, filed on Sep. 8, 2015.
Prior Publication US 2024/0278438 A1, Aug. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 15/0616 (2013.01) [B25J 9/1612 (2013.01); B25J 13/085 (2013.01); B25J 15/0625 (2013.01); B25J 15/0658 (2013.01); B25J 15/0675 (2013.01); B25J 15/0683 (2013.01); B25J 15/0691 (2013.01)] 33 Claims
OG exemplary drawing
 
1. A system for grasping and moving objects using a programmable motion device, said system comprising:
a high vacuum source for selectively providing a first vacuum pressure with a first maximum air flow rate at a vacuum cup end-effector of the programmable motion device;
a high flow source for selectively providing a second vacuum pressure with a second maximum air flow rate at the vacuum cup end-effector, the second vacuum pressure being higher than the first vacuum pressure, and the second maximum air flow rate being greater than the first maximum air flow rate;
a passive selection system comprising a non-return valve for passively selecting between coupling the vacuum cup end-effector to any of the high vacuum source and the high flow source responsive to changes in air flow at the vacuum cup end-effector of the programmable motion device; and
a load detection device in communication with the vacuum cup end-effector of the programmable motion device, the load detection device including a magnetic field sensor and a magnet, each of which is mounted on one of the vacuum cup end-effector and the programmable motion device, the magnetic field sensor providing position information regarding a position of the vacuum cup end-effector to monitor weight and balance of a load on the vacuum cup end-effector.