US 12,447,605 B2
Systems and methods for object processing with programmable motion devices using yawing grippers
Bretton Anderson, Westford, MA (US); Jason Yap, Newton, MA (US); William Chu-Hyon McMahan, North Cambridge, MA (US); Calvin Toothaker, Melrose, MA (US); and William Farmer, Bolton, MA (US)
Assigned to Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed by Berkshire Grey Operating Company, Inc., Bedford, MA (US)
Filed on Jan. 20, 2023, as Appl. No. 18/099,420.
Claims priority of provisional application 63/314,546, filed on Feb. 28, 2022.
Claims priority of provisional application 63/301,630, filed on Jan. 21, 2022.
Prior Publication US 2023/0234216 A1, Jul. 27, 2023
Int. Cl. B25J 15/06 (2006.01); B25J 9/00 (2006.01); B25J 9/10 (2006.01); B25J 17/00 (2006.01)
CPC B25J 9/0009 (2013.01) [B25J 9/0093 (2013.01); B25J 9/102 (2013.01); B25J 15/0616 (2013.01); B25J 17/00 (2013.01)] 35 Claims
OG exemplary drawing
 
1. An end-effector system for use with a programmable motion device, said end-effector system comprising:
an arm attachment portion for attachment to an arm of the programmable motion device, said arm attachment portion extending in an axial direction and including a spline gear with inwardly facing drive splines;
an end-effector attachment portion for attachment to an end-effector for grasping objects; and
a spline shaft received by the arm attachment portion, said spline shaft being coupled to the end-effector attachment portion at a distal end thereof, and including shaft splines that engage the drive splines of the spline gear to permit movement of the spline shaft with respect to the arm attachment portion in the axial direction;
wherein the spline shaft includes a vacuum hose connector at a proximal end of the spline shaft that is opposite the distal end, the vacuum hose connector being adapted to engage a vacuum hose terminus at a distal end of a vacuum hose.