IP Library › Granted Patent US 12,296,463
Granted Patent B2
US 12,296,463 · App. 18/601,171 · Granted May 13, 2025

Systems and methods for object processing using a vacuum gripper that provides object retention by shroud inversion

Inventors: Christopher Geyer (Arlington, MA); Matthew T. Mason (Pittsburgh, PA); Gabriel Nelson (Wilmington, MA); Aidan Rose (Waban, MA); Jason Yap (Newton, MA)
Assignee: Berkshire Grey Operating Company, Inc.
B25J15/0683B25J15/0028B65G47/91B25J9/0093
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Quick Facts
Patent No.
US 12,296,463
App. No.
18/601,171
Granted
May 13, 2025
Kind
B2
Abstract

An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface includes at least one aperture through which a vacuum is provided, and the body includes an outer surface that faces away from the open interior. The body provides that when the flow of air drawn by the vacuum source through the at least one aperture is reduced due to the at least one aperture being at least partially blocked, the outer surface of the body engages the object being grasped at least partially within the open interior of the body.

Claims (74)

1. An end-effector of a programmable motion device, said end- effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the distal portion of the continuous body at a radially inward portion thereof, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object and a plurality of braces at a radially inward portion thereof.

2. The end-effector of claim 1 , wherein the radially outward portion of the continuous shroud is scalloped.

3. The end-effector of claim 1 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

4. The end-effector of claim 1 , wherein the continuous shroud is connected to the distal portion of the continuous body at the radially inward portion thereof proximate the generally circular base at the outer periphery of the generally circular base of the collapsible dome.

5. The end-effector of claim 1 , wherein the collapsible dome includes a plurality of apertures.

6. The end-effector of claim 1 , wherein the continuous body includes a plurality of support ribs on an inner surface thereof that extend along radial directions.

7. The end-effector of claim 1 , wherein the continuous body includes a plurality of support ribs on an inner surface thereof that extend along longitudinal directions.

8. A programmable motion device including the end-effector of claim 1 .

9. An end-effector of a programmable motion device, said end- effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the generally circular base at the outer periphery of the collapsible dome, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object and a plurality of braces at a radially inward portion thereof.

10. The end-effector of claim 9 , wherein the radially outward portion of the continuous shroud is scalloped.

11. The end-effector of claim 9 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

12. The end-effector of claim 9 , wherein the continuous shroud is connected to generally circular base at the outer periphery of the generally circular base of the collapsible dome proximate the distal portion of the continuous body.

13. The end-effector of claim 9 , wherein the collapsible dome includes a plurality of apertures.

14. The end-effector of claim 9 , wherein the continuous body includes a plurality of support ribs on an inner surface thereof that extend along radial directions.

15. The end-effector of claim 9 , wherein the continuous body includes a plurality of support ribs on an inner surface thereof that extend along longitudinal directions.

16. A programmable motion device including the end-effector of claim 9 .

17. An end-effector of a programmable motion device, said end- effector comprising:

a flexible body that includes a connection portion for coupling the end-effector to an end- effector mounting section of the programmable motion device, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a contact member that includes at least one aperture adapted to permit the flow of vacuum therethrough, said contact member including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the flexible body; and

a continuous shroud that is connected to the distal portion of the flexible body at a radially inward portion thereof, the continuous shroud including a radially outward portion that is adapted to move with respect to the flexible body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the contact member engages an object.

18. The end-effector of claim 17 , wherein the radially outward portion of the continuous shroud is scalloped.

19. The end-effector of claim 17 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

20. The end-effector of claim 17 , wherein the continuous shroud is connected to the distal portion of the flexible body at the radially inward portion thereof proximate the generally circular base at the outer periphery of the generally circular base of the contact member.

21. The end-effector of claim 17 , wherein the contact member includes a plurality of apertures.

22. The end-effector of claim 17 , wherein the continuous shroud includes a plurality of braces at the radially inward portion thereof.

23. The end-effector of claim 17 , wherein the flexible body includes a plurality of support ribs on an inner surface thereof that extend along radial directions.

24. The end-effector of claim 17 , wherein the flexible body includes a plurality of support ribs on an inner surface thereof that extend along longitudinal directions.

25. A programmable motion device including the end-effector of claim 17 .

26. An end-effector of a programmable motion device, said end-effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, and a plurality of support ribs on an inner surface thereof that extend along radial directions, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the distal portion of the continuous body at a radially inward portion thereof, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object.

27. The end-effector of claim 25 , wherein the radially outward portion of the continuous shroud is scalloped.

28. The end-effector of claim 25 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

29. The end-effector of claim 25 , wherein the continuous shroud is connected to the distal portion of the continuous body at the radially inward portion thereof proximate the generally circular base at the outer periphery of the generally circular base of the collapsible dome.

30. The end-effector of claim 25 , wherein the collapsible dome includes a plurality of apertures.

31. The end-effector of claim 25 , wherein the continuous shroud includes a plurality of braces at the radially inward portion thereof.

32. A programmable motion device including the end-effector of claim 25 .

33. An end-effector of a programmable motion device, said end-effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, and a plurality of support ribs on an inner surface thereof that extend along radial directions, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the generally circular base at the outer periphery of the collapsible dome, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object.

34. The end-effector of claim 32 , wherein the radially outward portion of the continuous shroud is scalloped.

35. The end-effector of claim 32 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

36. The end-effector of claim 32 , wherein the continuous shroud is connected to generally circular base at the outer periphery of the generally circular base of the collapsible dome proximate the distal portion of the continuous body.

37. The end-effector of claim 32 , wherein the collapsible dome includes a plurality of apertures.

38. The end-effector of claim 32 , wherein the continuous shroud includes a plurality of braces at the radially inward portion thereof.

39. A programmable motion device including the end-effector of claim 32 .

40. An end-effector of a programmable motion device, said end-effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, and a plurality of support ribs on an inner surface thereof that extend along longitudinal directions, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the distal portion of the continuous body at a radially inward portion thereof, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object.

41. The end-effector of claim 39 , wherein the radially outward portion of the continuous shroud is scalloped.

42. The end-effector of claim 39 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

43. The end-effector of claim 39 , wherein the continuous shroud is connected to the distal portion of the continuous body at the radially inward portion thereof proximate the generally circular base at the outer periphery of the generally circular base of the collapsible dome.

44. The end-effector of claim 39 , wherein the collapsible dome includes a plurality of apertures.

45. The end-effector of claim 39 , wherein the continuous shroud includes a plurality of braces at the radially inward portion thereof.

46. A programmable motion device including the end-effector of claim 39 .

47. An end-effector of a programmable motion device, said end-effector comprising:

a continuous body that includes a connection portion for coupling the end-effector to an end-effector mounting section of the programmable motion device, and a plurality of support ribs on an inner surface thereof that extend along longitudinal directions, the connection portion being provided at a proximal end thereof that is proximate the end-effector mounting section of the programmable motion device, said connection portion being adapted to permit a flow of vacuum therethrough;

a collapsible dome that includes at least one aperture adapted to permit the flow of vacuum therethrough, said collapsible dome including a generally circular base at an outer periphery thereof that is coupled to a distal portion of the continuous body; and

a continuous shroud that is connected to the generally circular base at the outer periphery of the collapsible dome, the continuous shroud including a radially outward portion that is adapted to move with respect to the continuous body to engage an object when the flow of vacuum that is drawn through the at least one aperture of the collapsible dome engages an object.

48. The end-effector of claim 46 , wherein the radially outward portion of the continuous shroud is scalloped.

49. The end-effector of claim 46 , wherein the radially outward portion of the continuous shroud has a constant outer radius.

50. The end-effector of claim 46 , wherein the continuous shroud is connected to the generally circular base at the outer periphery of the generally circular base of the collapsible dome proximate the distal portion of the continuous body.

51. The end-effector of claim 46 , wherein the collapsible dome includes a plurality of apertures.

52. The end-effector of claim 46 , wherein the continuous shroud includes a plurality of braces at the radially inward portion thereof.

53. A programmable motion device including the end-effector of claim 46 .

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded May 2, 2024
From: GEYER, CHRISTOPHER; MASON, MATTHEW T.; NELSON, GABRIEL; ROSE, AIDAN; YAP, JASON
To: BERKSHIRE GREY OPERATING COMPANY, INC.
Reel/Frame 067294/0589 →
Continuity (3)
Continuation 17377004 · Jul 15, 2021
Provisional Application 63054904 · Jul 22, 2020
Related Publication 20240278439A1 · Aug 22, 2024
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