IP Library › Granted Patent US 12,263,578
Granted Patent B2
US 12,263,578 · App. 17/529,508 · Granted Apr 1, 2025

End-effector with ridges for processing objects with low pose authority

Inventors: Thomas Allen (Reading, MA); Jason Yap (Newton, MA); Ian Gerald Wilson (Malden, MA); Aidan Rose (Waban, MA); Mark F. Budreski (Winchester, MA)
Assignee: Berkshire Grey Operating Company, Inc.
B25J15/0683B25J15/0408
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Quick Facts
Patent No.
US 12,263,578
App. No.
17/529,508
Granted
Apr 1, 2025
Kind
B2
Abstract

An end-effector for a programmable motion device includes a body that includes a first portion having a vacuum opening through which a vacuum from a vacuum source is applied to an object, and a second portion that is adapted to engage the object. The first portion also includes ridges on a surface of the first portion to distribute the vacuum over a contact surface of the object. The first portion is generally orthogonal to the second portion.

Claims (31)

1. An end-effector for a programmable motion device, said end effector comprising a body that includes a first portion that defines a vacuum opening through which a vacuum from a vacuum source is applied to an object, and a second portion that grips the object, said first portion being orthogonal to the second portion,

the first portion including a plurality of ridges configured on a surface of the first portion to distribute the vacuum over a contact surface of the object,

wherein at least one of the ridges is configured to define a closed area over a portion of the vacuum opening to provide a vacuum seal between the first portion and the object, and

wherein one or more other ridges are configured to define open areas that direct vacuum air flows to provide a high flow vacuum seal between the first portion and the object, wherein the one or more other ridges includes a ridge that extends across the vacuum opening to provide a vacuum flow in a linear direction along the ridge to an open end of the ridge.

2. The end-effector as claimed in claim 1 , wherein the first portion is configured to contact at least part of a lid of the object.

3. The end-effector as claimed in claim 1 , wherein the vacuum source is a high flow vacuum providing a vacuum pressure of no more than about 25,000 Pascals below atmospheric, with a maximum air flow rate of at least about 100 cubic feet per minute.

4. The end-effector as claimed in claim 1 , wherein the second portion includes no-slip surfaces.

5. The end-effector as claimed in claim 1 , wherein the second portion includes barbs.

6. The end-effector as claimed in claim 5 , wherein at least one of the barbs is elongated.

7. An end-effector for a programmable motion device, said end-effector comprising a body that includes a first portion that defines a vacuum opening through which a vacuum is applied from a vacuum source to an object, the first portion being configured to contact at least part of a lid of the object, and the end effector further comprising a second portion that engages the object, the first portion being orthogonal to the second portion,

wherein the first portion includes a plurality of ridges configured on a surface of the first portion,

wherein the plurality of ridges includes a first ridge that extends across the vacuum opening to provide a first vacuum flow in a first direction along the first ridge to an open end thereof,

a second ridge having at least two ridge portions separated by an opening defined therein therebetween to provide a second vacuum flow in a second direction through the opening in the second ridge that is orthogonal to the first direction, and

a third ridge that forms a closed area over a portion of the vacuum opening through which a third vacuum flow is provided.

8. The end-effector as claimed in claim 7 , wherein the second portion includes no-slip surfaces.

9. The end-effector as claimed in claim 7 , wherein the second portion includes barbs.

10. The end-effector as claimed in claim 9 , wherein at least one of the barbs is elongated.

11. The end-effector as claimed in claim 7 , wherein the vacuum source is a high flow vacuum providing a vacuum pressure of no more than about 25,000 Pascals below atmospheric, with a maximum air flow rate of at least about 100 cubic feet per minute.

12. The end-effector as claimed in claim 7 , wherein the first portion of the end-effector further includes a seal that encircles the plurality of ridges and the vacuum opening.

13. The end-effector as claimed in claim 7 , wherein the plurality of ridges facilitate distribution of the vacuum to a surface of the object.

14. The end-effector as claimed in claim 7 , wherein the end-effector further includes a coupling for connecting to an end-effector connection portion of the programmable motion device.

15. The end-effector as claimed in claim 7 , wherein the third ridge that forms the closed area over the portion of the vacuum opening provides a greater seal against the object than any of the first ridge and the second ridge.

16. The end-effector as claimed in claim 15 , wherein the first ridge that extends across the vacuum opening provides a greater seal against the object than the second ridge.

17. A programmable motion device for use in an object processing system, said programmable motion device comprising an end-effector that includes a body that includes a first portion that defines a vacuum opening through which a vacuum is applied from a vacuum source to an object, the first portion being configured to contact at least part of a lid of the object, and the end effector further comprising a second portion that engages the object, the first portion being orthogonal to the second portion,

the first portion including a plurality of ridges configured on a surface of the first portion to distribute the vacuum over a contact surface of the object,

wherein at least one of the ridges is configured to define a closed area over a portion of the vacuum opening to provide a vacuum seal between the first portion and the object, and

wherein one or more other ridges configured to define open areas that direct vacuum air flows to provide a high flow vacuum seal between the first portion and the object, wherein the one or more other ridges includes a ridge having at least two ridge portions separated by an opening defined therebetween that extends across the vacuum opening to provide a vacuum flow in a direction through the opening in the ridge.

18. The programmable motion device as claimed in claim 17 , wherein the vacuum source is a high flow vacuum providing a vacuum pressure of no more than about 25,000 Pascals below atmospheric, with a maximum air flow rate of at least about 100 cubic feet per minute.

19. The programmable motion device as claimed in claim 17 , wherein the end-effector further includes a coupling for connecting to an end-effector connection portion of the programmable motion device.

20. The programmable motion device as claimed in claim 17 , wherein the second portion includes no-slip surfaces.

21. The programmable motion device as claimed in claim 17 , wherein the second portion includes barbs.

Assignments (2)
MERGER AND CHANGE OF NAME Recorded Feb 1, 2022
From: BERKSHIRE GREY, INC.; BERKSHIRE GREY OPERATING COMPANY, INC.
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 058947/0548 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Dec 30, 2021
From: ALLEN, THOMAS; YAP, JASON; WILSON, IAN GERALD; ROSE, AIDAN; BUDRESKI, MARK F.
To: BERKSHIRE GREY, INC.
Reel/Frame 058507/0084 →
Continuity (2)
Provisional Application 63115721 · Nov 19, 2020
Related Publication 20220152845A1 · May 19, 2022
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Cited By (1)
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