US 12,070,851 B2
Systems and methods for object processing using a vacuum gripper that provides object retention by evacuation
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 Jul. 15, 2021, as Appl. No. 17/376,998.
Claims priority of provisional application 63/054,904, filed on Jul. 22, 2020.
Prior Publication US 2022/0024705 A1, Jan. 27, 2022
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)] 20 Claims
OG exemplary drawing
 
1. An end-effector of a programmable motion device, said end-effector comprising a body including a proximal wall, a distal wall, and a flexible portion that couples the proximal wall to the distal wall, the proximal wall and the distal wall defining an open interior therebetween, the open interior being coupled to a vacuum source, and the distal wall having an outer surface adjacent a contact surface, the contact surface for contacting an object to be grasped by the end effector, the contact surface at least partially defining an aperture to the open interior of the body through which a vacuum is applied for grasping the object, and wherein the flexible portion couples the distal wall to the proximal wall such that the contact surface of the distal wall and the object are drawn upward and the outer surface of the distal wall moves to face the object when a flow of air drawn by the vacuum source through the aperture is reduced due to the aperture being at least partially blocked by the object.