US 12,134,189 B2
Systems and methods for efficiently moving a variety of objects
Thomas Wagner, Concord, MA (US); Kevin Ahearn, Nebo, NC (US); Benjamin Cohen, Somerville, MA (US); Michael Dawson-Haggerty, Pittsburgh, PA (US); Christopher Geyer, Arlington, MA (US); Thomas Koletschka, Cambridge, MA (US); Kyle Maroney, North Attleboro, MA (US); Matthew T. Mason, Pittsburgh, PA (US); Gene Temple Price, Cambridge, MA (US); Joseph Romano, Arlington, MA (US); Daniel Smith, Canonsburg, PA (US); Siddhartha Srinivasa, Seattle, WA (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 Oct. 10, 2023, as Appl. No. 18/378,319.
Application 18/378,319 is a continuation of application No. 17/509,473, filed on Oct. 25, 2021, granted, now 11,839,974.
Application 17/509,473 is a continuation of application No. 16/825,010, filed on Mar. 20, 2020, granted, now 11,203,115, issued on Dec. 21, 2021.
Application 16/825,010 is a continuation of application No. 15/912,003, filed on Mar. 5, 2018, granted, now 10,639,787, issued on May 5, 2020.
Claims priority of provisional application 62/467,509, filed on Mar. 6, 2017.
Prior Publication US 2024/0109185 A1, Apr. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 15/06 (2006.01); B25J 9/10 (2006.01); B25J 15/00 (2006.01); B25J 17/02 (2006.01); F16C 19/18 (2006.01); F16C 19/36 (2006.01)
CPC B25J 9/1055 (2013.01) [B25J 9/108 (2013.01); B25J 15/0004 (2013.01); B25J 15/0616 (2013.01); B25J 17/02 (2013.01); F16C 19/184 (2013.01); F16C 19/364 (2013.01); Y10S 901/29 (2013.01); Y10S 901/40 (2013.01)] 27 Claims
OG exemplary drawing
 
1. A method of grasping an object with an end-effector of a programmable motion device, said method comprising:
moving the end-effector using the programmable motion device to an object to be grasped;
grasping the object with a distal end of the end-effector using a vacuum at the distal end of the end-effector, the distal end of the end-effector including a vacuum cup that is mounted to a first portion of the end-effector, the first portion of the end-effector being rotatably coupled with respect to a second portion of the end-effector, the second portion of the end-effector being coupled to the programmable motion device;
lifting the object using the vacuum at a distal end of the vacuum cup of the end-effector, the vacuum being provided through both the first portion of the end-effector and the second portion of the end-effector; and
permitting the first portion of the end-effector and the vacuum cup with the grasped object to rotate together with respect to the second portion of the end-effector that is attached to the programmable motion device, the rotation of the first portion of the end-effector with respect to the second portion of the end-effector being responsive to gravitational forces applied to the object as held by the end-effector.