Granted Patent B2

US 12,370,699 · App. 17/509,898 · Granted Jul 29, 2025

Inventors: Thomas Wagner (Concord, MA); Kevin Ahearn (Nebo, NC); Benjamin Cohen (Somerville, MA); Michael Dawson-Haggerty (Pittsburgh, PA); Christopher Geyer (Arlington, MA); Thomas Koletschka (Cambridge, MA); Kyle Maroney (Saunderstown, RI); Matthew T. Mason (Atlanta, GA); Gene Temple Price (Somerville, MA); Joseph Romano (Arlington, MA); Daniel Smith (Wexford, PA); Siddhartha Srinivasa (Seattle, WA); Prasanna Velagapudi (Pittsburgh, PA); Thomas Allen (Reading, MA)

Assignee: Berkshire Grey Operating Company, Inc.

B25J15/0616B25J9/1612B25J13/085B25J15/0625B25J15/0658B25J15/0675B25J15/0683B25J15/0691

Abstract

Claims (57)

1. A method of providing a dynamic vacuum source for an end effector, said method comprising the steps of:

providing at the end effector a first vacuum pressure at a first vacuum flow rate from a first vacuum source;

moving to grasp an object with the end effector using the first vacuum source;

grasping the object;

sensing air flow through the end effector and providing air flow information; and

switching to a second vacuum source to provide at the end effector a second vacuum pressure having a second vacuum flow rate responsive to the air flow information.

2. The method as claimed in claim 1 , wherein said first vacuum pressure is at least about 90,000 Pascals below atmospheric, and said second vacuum pressure is no more than about 50,000 Pascals below atmospheric.

3. The method as claimed in claim 1 , wherein said first vacuum flow rate is at most about 5 cubic feet per minute, and said second vacuum flow rate is at least about 100 cubic feet per minute.

4. The method as claimed in claim 1 , wherein the switching to the second vacuum source occurs automatically.

5. The method as claimed in claim 1 , wherein the method includes lifting the object prior to sensing air flow through the end effector and providing air flow information.

6. The method as claimed in claim 1 , wherein the method includes moving the object prior to sensing air flow through the end effector and providing air flow information.

7. The method as claimed in claim 1 , wherein the method further includes providing a positive air pressure to the end effector to urge an object from the end effector.

8. A method of providing a dynamic vacuum source for an end effector of an articulated arm, said method comprising the steps of:

providing at the end effector a first vacuum pressure at a first vacuum flow rate from a first vacuum source;

grasping an object with the end effector using the first vacuum source;

sensing movement of the end effector with respect to the articulated arm and providing end effector movement information; and

switching to a second vacuum source to provide at the end effector a second vacuum pressure having a second vacuum flow rate responsive to the end effector movement information.

9. The method as claimed in claim 8 , wherein said first vacuum pressure is at least about 90,000 Pascals below atmospheric, and said second vacuum pressure is no more than about 50,000 Pascals below atmospheric.

10. The method as claimed in claim 8 , wherein said first vacuum flow rate is at most about 5 cubic feet per minute, and said second vacuum flow rate is at least about 100 cubic feet per minute.

11. The method as claimed in claim 8 , wherein the method further includes sensing air flow through the end effector and providing air flow information.

12. The method as claimed in claim 11 , wherein the method includes grasping the object prior to sensing air flow through the end effector and providing air flow information.

13. The method as claimed in claim 11 , wherein the method includes lifting the object prior to sensing air flow through the end effector and providing air flow information.

14. The method as claimed in claim 11 , wherein the method includes moving the object prior to sensing air flow through the end effector and providing air flow information.

15. The method as claimed in claim 11 , wherein the method further includes providing a positive air pressure to the end effector to urge an object from the end effector.

16. A system for providing a dynamic vacuum source for an end effector of an articulated arm, said system comprising:

a first vacuum source for providing at the end effector a first vacuum pressure at a first vacuum flow rate;

a movement detection system for detecting movement of the end effector with respect to the articulated arm, and for providing end effector movement information;

an air flow sensor for detecting air flow within the end effector, and for providing air flow information; and

a second vacuum source for selectively providing at the end effector a second vacuum pressure at a second vacuum flow rate responsive to any of the end effector movement information or the air flow information.

17. The system as claimed in claim 16 , wherein said first vacuum pressure is at least about 90,000 Pascals below atmospheric, and said second vacuum pressure is no more than about 50,000 Pascals below atmospheric.

18. The system as claimed in claim 16 , wherein said first vacuum flow rate is at most about 5 cubic feet per minute, and said second vacuum flow rate is at least about 100 cubic feet per minute.

19. The system as claimed in claim 16 , wherein the second vacuum source is selected automatically.

20. The system as claimed in claim 16 , wherein the system includes a positive pressure source for providing a positive air pressure to the end effector to urge an object from the end effector.

21. A method of providing a dynamic vacuum source for an end effector, said method comprising the steps of:

providing at the end effector a first vacuum pressure at a first vacuum flow rate from a first vacuum source;

moving to grasp an object with the end effector using the first vacuum source;

lifting the object;

sensing air flow through the end effector and providing air flow information; and

switching to a second vacuum source to provide at the end effector a second vacuum pressure having a second vacuum flow rate responsive to the air flow information.

22. The method as claimed in claim 21 , wherein said first vacuum pressure is at least about 90,000 Pascals below atmospheric, and said second vacuum pressure is no more than about 50,000 Pascals below atmospheric.

23. The method as claimed in claim 21 , wherein said first vacuum flow rate is at most about 5 cubic feet per minute, and said second vacuum flow rate is at least about 100 cubic feet per minute.

24. The method as claimed in claim 21 , wherein the switching to the second vacuum source occurs automatically.

25. The method as claimed in claim 21 , wherein the method includes grasping the object prior to sensing air flow through the end effector and providing air flow information.

26. The method as claimed in claim 21 , wherein the method includes moving the object prior to sensing air flow through the end effector and providing air flow information.

27. The method as claimed in claim 21 , wherein the method further includes providing a positive air pressure to the end effector to urge an object from the end effector.

28. A method of providing a dynamic vacuum source for an end effector, said method comprising the steps of:

providing at the end effector a first vacuum pressure at a first vacuum flow rate from a first vacuum source;

moving to grasp an object with the end effector using the first vacuum source;

moving the object;

sensing air flow through the end effector and providing air flow information; and

switching to a second vacuum source to provide at the end effector a second vacuum pressure having a second vacuum flow rate responsive to the air flow information.

29. The method as claimed in claim 28 , wherein said first vacuum pressure is at least about 90,000 Pascals below atmospheric, and said second vacuum pressure is no more than about 50,000 Pascals below atmospheric.

30. The method as claimed in claim 28 , wherein said first vacuum flow rate is at most about 5 cubic feet per minute, and said second vacuum flow rate is at least about 100 cubic feet per minute.

31. The method as claimed in claim 28 , wherein the switching to the second vacuum source occurs automatically.

32. The method as claimed in claim 28 , wherein the method includes grasping the object prior to sensing air flow through the end effector and providing air flow information.

33. The method as claimed in claim 28 , wherein the method includes lifting the object prior to sensing air flow through the end effector and providing air flow information.

34. The method as claimed in claim 28 , wherein the method further includes providing a positive air pressure to the end effector to urge an object from the end effector.

Assignments (2)

Continuity (7)

References Cited (219)